2025-10-27T03:55:16.781Z,1761537316.781 [lineCaptureHoming:BA.Execute] Stopped 2025-10-27T03:55:16.781Z,1761537316.781 [lineCaptureHoming:InitialDive] Running Loop=1 2025-10-27T03:55:16.781Z,1761537316.781 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive 2025-10-27T03:55:16.781Z,1761537316.781 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-10-27T03:55:16.781Z,1761537316.781 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize. 2025-10-27T03:55:16.781Z,1761537316.781 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-10-27T03:55:16.781Z,1761537316.781 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize. 2025-10-27T03:55:16.782Z,1761537316.782 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1 2025-10-27T03:55:16.782Z,1761537316.782 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize. 2025-10-27T03:55:16.872Z,1761537316.872 [CommandExec](IMPORTANT): got command restart logs 2025-10-27T03:55:17.137Z,1761537317.137 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-10-27T03:55:17.137Z,1761537317.137 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-10-27T03:55:17.478Z,1761537317.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678879,0.719750,-0.145201],[-0.733753,0.672293,-0.098123],[0.026994,0.173155,0.984525]] 2025-10-27T03:55:17.885Z,1761537317.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685766,0.706797,-0.173676],[-0.727235,0.675001,-0.124509],[0.029229,0.211688,0.976900]] 2025-10-27T03:55:18.286Z,1761537318.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694273,0.701878,-0.159224],[-0.717299,0.692900,-0.073290],[0.058886,0.165095,0.984518]] 2025-10-27T03:55:18.699Z,1761537318.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632714,0.774118,-0.020363],[-0.774360,0.632261,-0.024753],[-0.006287,0.031430,0.999486]] 2025-10-27T03:55:19.094Z,1761537319.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591615,0.791146,0.155173],[-0.805105,0.589872,0.062103],[-0.042400,-0.161672,0.985933]] 2025-10-27T03:55:19.905Z,1761537319.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613436,0.761498,0.209324],[-0.789373,0.599342,0.132964],[-0.024205,-0.246799,0.968764]] 2025-10-27T03:55:20.315Z,1761537320.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619141,0.781122,0.080703],[-0.784817,0.611972,0.097741],[0.026960,-0.123853,0.991934]] 2025-10-27T03:55:20.732Z,1761537320.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607124,0.794203,-0.025337],[-0.793356,0.607648,0.036737],[0.044573,-0.002203,0.999004]] 2025-10-27T03:55:21.114Z,1761537321.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592278,0.803940,-0.053741],[-0.805733,0.590838,-0.041304],[-0.001453,0.067764,0.997700]] 2025-10-27T03:55:21.518Z,1761537321.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566725,0.821944,-0.056833],[-0.823766,0.566554,-0.020643],[0.015231,0.058516,0.998170]] 2025-10-27T03:55:21.929Z,1761537321.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542926,0.837127,-0.066709],[-0.834779,0.546644,0.065760],[0.091516,0.019985,0.995603]] 2025-10-27T03:55:22.333Z,1761537322.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532709,0.846078,0.019302],[-0.841080,0.526758,0.122921],[0.093834,-0.081716,0.992229]] 2025-10-27T03:55:22.733Z,1761537322.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571146,0.814904,0.098606],[-0.819691,0.559833,0.121215],[0.043576,-0.150058,0.987716]] 2025-10-27T03:55:23.134Z,1761537323.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579467,0.808591,0.101970],[-0.814965,0.573798,0.081171],[0.007124,-0.130138,0.991470]] 2025-10-27T03:55:23.538Z,1761537323.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527122,0.841919,0.115390],[-0.849709,0.524062,0.057917],[-0.011710,-0.128577,0.991630]] 2025-10-27T03:55:23.941Z,1761537323.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526339,0.844984,0.094708],[-0.849216,0.516855,0.108137],[0.042424,-0.137344,0.989614]] 2025-10-27T03:55:24.024Z,1761537324.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:55:24.346Z,1761537324.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538192,0.838170,0.088429],[-0.839012,0.522837,0.150666],[0.080050,-0.155280,0.984622]] 2025-10-27T03:55:24.750Z,1761537324.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535926,0.839506,0.089509],[-0.841670,0.522962,0.134544],[0.066140,-0.147443,0.986857]] 2025-10-27T03:55:25.154Z,1761537325.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534278,0.843211,0.059511],[-0.845266,0.532218,0.047633],[0.008492,-0.075751,0.997091]] 2025-10-27T03:55:25.161Z,1761537325.161 [NAL9602](INFO): SBD MO Status=0, MOMSN=3009, MT Status=0, MTMSN=0 2025-10-27T03:55:25.162Z,1761537325.162 [NAL9602](INFO): No messages in MT queue 2025-10-27T03:55:25.558Z,1761537325.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525208,0.850660,0.023109],[-0.850945,0.525220,0.006018],[-0.007018,-0.022825,0.999715]] 2025-10-27T03:55:25.962Z,1761537325.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512649,0.857874,0.035268],[-0.857774,0.509926,0.064799],[0.037605,-0.063471,0.997275]] 2025-10-27T03:55:26.366Z,1761537326.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497715,0.866853,0.029096],[-0.863400,0.491980,0.111789],[0.082590,-0.080761,0.993306]] 2025-10-27T03:55:26.770Z,1761537326.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496034,0.862220,0.102603],[-0.865588,0.481682,0.136891],[0.068608,-0.156715,0.985258]] 2025-10-27T03:55:27.260Z,1761537327.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539752,0.833708,0.116618],[-0.841189,0.528762,0.113194],[0.032708,-0.159194,0.986705]] 2025-10-27T03:55:27.663Z,1761537327.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569489,0.817845,0.082528],[-0.821050,0.561134,0.104910],[0.039491,-0.127505,0.991051]] 2025-10-27T03:55:28.058Z,1761537328.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517028,0.854248,0.054244],[-0.853065,0.509024,0.114779],[0.070438,-0.105618,0.991909]] 2025-10-27T03:55:28.461Z,1761537328.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509866,0.856030,0.085143],[-0.856733,0.496341,0.140196],[0.077752,-0.144426,0.986456]] 2025-10-27T03:55:28.866Z,1761537328.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555221,0.821681,0.128723],[-0.831504,0.545012,0.107536],[0.018205,-0.166739,0.985833]] 2025-10-27T03:55:29.299Z,1761537329.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562100,0.819653,0.110511],[-0.827055,0.557823,0.069375],[-0.004782,-0.130394,0.991451]] 2025-10-27T03:55:30.094Z,1761537330.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531483,0.837538,0.126713],[-0.843018,0.508378,0.175705],[0.082741,-0.200206,0.976254]] 2025-10-27T03:55:30.498Z,1761537330.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556434,0.815672,0.158305],[-0.825214,0.520273,0.219860],[0.096972,-0.252973,0.962601]] 2025-10-27T03:55:30.902Z,1761537330.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551755,0.824665,0.124470],[-0.826487,0.520662,0.214082],[0.111739,-0.220994,0.968853]] 2025-10-27T03:55:31.317Z,1761537331.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555301,0.818247,0.148703],[-0.831003,0.538882,0.137985],[0.032772,-0.200195,0.979208]] 2025-10-27T03:55:31.717Z,1761537331.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563070,0.822472,0.080574],[-0.825668,0.555755,0.096998],[0.034999,-0.121144,0.992018]] 2025-10-27T03:55:32.118Z,1761537332.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548254,0.835870,-0.027174],[-0.830178,0.547874,0.103138],[0.101098,-0.033986,0.994296]] 2025-10-27T03:55:32.520Z,1761537332.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554337,0.832225,-0.010602],[-0.828113,0.552783,0.093057],[0.083305,-0.042805,0.995604]] 2025-10-27T03:55:32.922Z,1761537332.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531517,0.845286,0.054599],[-0.845254,0.525096,0.099093],[0.055092,-0.098820,0.993579]] 2025-10-27T03:55:33.329Z,1761537333.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512171,0.852563,0.104002],[-0.855035,0.494675,0.155599],[0.081211,-0.168619,0.982330]] 2025-10-27T03:55:33.733Z,1761537333.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517085,0.834941,0.188405],[-0.855895,0.502276,0.123137],[0.008181,-0.224927,0.974341]] 2025-10-27T03:55:34.134Z,1761537334.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526809,0.825038,0.204414],[-0.849142,0.521539,0.083391],[-0.037809,-0.217508,0.975326]] 2025-10-27T03:55:34.541Z,1761537334.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549884,0.827344,0.114585],[-0.835140,0.542481,0.090863],[0.013015,-0.145659,0.989249]] 2025-10-27T03:55:35.370Z,1761537335.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528472,0.848850,-0.013084],[-0.848195,0.528589,0.034037],[0.035808,-0.006889,0.999335]] 2025-10-27T03:55:35.773Z,1761537335.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543436,0.838738,-0.034585],[-0.838970,0.544058,0.011439],[0.028410,0.022799,0.999336]] 2025-10-27T03:55:36.178Z,1761537336.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551509,0.833318,-0.037668],[-0.831553,0.552792,0.054231],[0.066014,0.001415,0.997818]] 2025-10-27T03:55:36.613Z,1761537336.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518586,0.855007,-0.005599],[-0.837307,0.509154,0.199193],[0.173162,-0.098611,0.979944]] 2025-10-27T03:55:36.990Z,1761537336.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489003,0.868602,0.080048],[-0.851176,0.455092,0.261515],[0.190723,-0.196016,0.961874]] 2025-10-27T03:55:37.343Z,1761537337.343 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:55:37.393Z,1761537337.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507531,0.843669,0.175026],[-0.858091,0.476506,0.191366],[0.078049,-0.247313,0.965787]] 2025-10-27T03:55:37.812Z,1761537337.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509480,0.830357,0.225695],[-0.859033,0.506034,0.077412],[-0.049930,-0.233319,0.971117]] 2025-10-27T03:55:38.198Z,1761537338.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533948,0.829284,0.164887],[-0.839662,0.542981,-0.011822],[-0.099334,-0.132137,0.986242]] 2025-10-27T03:55:38.648Z,1761537338.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564548,0.825362,-0.007926],[-0.823991,0.562997,-0.063820],[-0.048212,0.042561,0.997930]] 2025-10-27T03:55:39.010Z,1761537339.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579670,0.805362,-0.123995],[-0.814848,0.573374,-0.085239],[0.002447,0.150448,0.988615]] 2025-10-27T03:55:39.410Z,1761537339.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557144,0.818974,-0.137376],[-0.830115,0.553719,-0.065600],[0.022344,0.150587,0.988344]] 2025-10-27T03:55:39.818Z,1761537339.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522133,0.849451,-0.076222],[-0.850177,0.525494,0.032490],[0.067653,0.047838,0.996561]] 2025-10-27T03:55:40.218Z,1761537340.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530877,0.845252,0.060978],[-0.842585,0.518763,0.144690],[0.090667,-0.128192,0.987596]] 2025-10-27T03:55:41.054Z,1761537341.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543259,0.815840,0.198179],[-0.839410,0.523272,0.146891],[0.016138,-0.246153,0.969097]] 2025-10-27T03:55:41.459Z,1761537341.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540763,0.824974,0.164298],[-0.840603,0.522781,0.141728],[0.031030,-0.214751,0.976176]] 2025-10-27T03:55:41.862Z,1761537341.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544345,0.836980,0.056149],[-0.833522,0.532127,0.148599],[0.094496,-0.127690,0.987302]] 2025-10-27T03:55:42.670Z,1761537342.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577956,0.814229,-0.054752],[-0.798039,0.577938,0.170649],[0.170591,-0.054933,0.983809]] 2025-10-27T03:55:43.178Z,1761537343.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576001,0.817202,0.020075],[-0.815536,0.572801,0.082455],[0.055884,-0.063866,0.996393]] 2025-10-27T03:55:43.565Z,1761537343.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558324,0.824084,0.095710],[-0.829323,0.551292,0.091110],[0.022318,-0.130244,0.991231]] 2025-10-27T03:55:43.974Z,1761537343.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567806,0.813685,0.124548],[-0.818152,0.541184,0.194289],[0.090687,-0.212217,0.973005]] 2025-10-27T03:55:44.374Z,1761537344.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592004,0.792558,0.146227],[-0.801626,0.560328,0.208396],[0.083231,-0.240590,0.967052]] 2025-10-27T03:55:44.800Z,1761537344.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602416,0.786055,0.138613],[-0.797693,0.586819,0.139031],[0.027946,-0.194325,0.980539]] 2025-10-27T03:55:45.228Z,1761537345.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591425,0.798142,0.114826],[-0.806360,0.585449,0.083868],[-0.000286,-0.142193,0.989839]] 2025-10-27T03:55:45.638Z,1761537345.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607793,0.792035,0.057171],[-0.791294,0.598035,0.127315],[0.066647,-0.122620,0.990213]] 2025-10-27T03:55:46.049Z,1761537346.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619526,0.783160,-0.053363],[-0.770951,0.619843,0.146389],[0.147723,-0.049551,0.987787]] 2025-10-27T03:55:46.442Z,1761537346.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596026,0.802787,0.016939],[-0.795047,0.587061,0.152509],[0.112488,-0.104366,0.988157]] 2025-10-27T03:55:46.846Z,1761537346.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628304,0.771900,0.096973],[-0.775024,0.610211,0.164258],[0.067617,-0.178361,0.981639]] 2025-10-27T03:55:47.251Z,1761537347.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608380,0.789457,0.081439],[-0.790972,0.594712,0.143810],[0.065099,-0.151907,0.986249]] 2025-10-27T03:55:47.664Z,1761537347.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608838,0.792942,0.023644],[-0.785306,0.598219,0.159463],[0.112301,-0.115655,0.986921]] 2025-10-27T03:55:48.068Z,1761537348.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637111,0.770754,0.005352],[-0.764557,0.631078,0.131124],[0.097687,-0.087632,0.991352]] 2025-10-27T03:55:48.091Z,1761537348.091 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:55:48.465Z,1761537348.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609508,0.791274,0.048847],[-0.790223,0.601443,0.117532],[0.063622,-0.110237,0.991867]] 2025-10-27T03:55:48.967Z,1761537348.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636982,0.767644,0.070552],[-0.765335,0.618790,0.177094],[0.092288,-0.166802,0.981662]] 2025-10-27T03:55:49.371Z,1761537349.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646800,0.760903,0.051731],[-0.761281,0.640068,0.103745],[0.045828,-0.106485,0.993258]] 2025-10-27T03:55:49.784Z,1761537349.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630754,0.774755,0.043636],[-0.775890,0.630550,0.020030],[-0.011997,-0.046491,0.998847]] 2025-10-27T03:55:50.178Z,1761537350.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647895,0.761489,0.019159],[-0.761182,0.646270,0.054203],[0.028893,-0.049702,0.998346]] 2025-10-27T03:55:50.638Z,1761537350.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636898,0.770702,0.019463],[-0.768579,0.632761,0.094335],[0.060389,-0.075040,0.995350]] 2025-10-27T03:55:51.117Z,1761537351.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629832,0.773206,0.073915],[-0.775036,0.619320,0.125549],[0.051298,-0.136362,0.989330]] 2025-10-27T03:55:51.517Z,1761537351.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643924,0.762118,0.067361],[-0.759692,0.626460,0.174400],[0.090715,-0.163474,0.982368]] 2025-10-27T03:55:51.918Z,1761537351.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647313,0.761183,0.039819],[-0.754115,0.631953,0.178735],[0.110887,-0.145725,0.983091]] 2025-10-27T03:55:51.958Z,1761537351.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:55:52.081Z,1761537352.081 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:55:52.081Z,1761537352.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:55:52.322Z,1761537352.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645465,0.758176,0.092439],[-0.762285,0.631864,0.140251],[0.047926,-0.160991,0.985792]] 2025-10-27T03:55:52.332Z,1761537352.332 [DAT](INFO): DAT read: user:12> 2025-10-27T03:55:52.332Z,1761537352.332 [DAT](INFO): DAT read: Tx time:03:55:51.3810 2025-10-27T03:55:52.333Z,1761537352.333 [DAT](INFO): Ping request sent. 2025-10-27T03:55:52.333Z,1761537352.333 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:55:52.333Z,1761537352.333 [DAT](INFO): publishing transmit ping time 2025-10-27T03:55:52.334Z,1761537352.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-27T03:55:52.586Z,1761537352.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253147 2025-10-27T03:55:52.735Z,1761537352.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637705,0.760787,0.120557],[-0.770083,0.626148,0.122109],[0.017413,-0.170709,0.985168]] 2025-10-27T03:55:52.836Z,1761537352.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503071 2025-10-27T03:55:53.089Z,1761537353.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756146 2025-10-27T03:55:53.171Z,1761537353.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643745,0.752735,0.137774],[-0.764433,0.640821,0.070637],[-0.035118,-0.150791,0.987942]] 2025-10-27T03:55:53.340Z,1761537353.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007159 2025-10-27T03:55:53.570Z,1761537353.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658035,0.746745,0.096752],[-0.752983,0.652159,0.087780],[0.002451,-0.130615,0.991430]] 2025-10-27T03:55:53.592Z,1761537353.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259038 2025-10-27T03:55:53.845Z,1761537353.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511768 2025-10-27T03:55:53.977Z,1761537353.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650828,0.757335,0.053546],[-0.757260,0.642454,0.117516],[0.054598,-0.117031,0.991626]] 2025-10-27T03:55:54.096Z,1761537354.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763478 2025-10-27T03:55:54.349Z,1761537354.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015673 2025-10-27T03:55:54.405Z,1761537354.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612947,0.782939,0.106312],[-0.790052,0.609134,0.069087],[-0.010667,-0.126338,0.991930]] 2025-10-27T03:55:54.604Z,1761537354.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270983 2025-10-27T03:55:54.816Z,1761537354.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622780,0.773452,0.117968],[-0.781586,0.621885,0.048812],[-0.035608,-0.122601,0.991817]] 2025-10-27T03:55:54.852Z,1761537354.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519104 2025-10-27T03:55:55.104Z,1761537355.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771055 2025-10-27T03:55:55.209Z,1761537355.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642755,0.759764,0.098109],[-0.765720,0.641052,0.052210],[-0.023226,-0.108682,0.993805]] 2025-10-27T03:55:55.356Z,1761537355.356 [DAT](INFO): DAT read: Rx Time:03:55:53.9894 2025-10-27T03:55:55.357Z,1761537355.357 [DAT](INFO): Rx dataTimestamp_ set to:1761537355.356676 2025-10-27T03:55:55.358Z,1761537355.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024968 2025-10-27T03:55:55.608Z,1761537355.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275080 2025-10-27T03:55:55.611Z,1761537355.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639541,0.765764,0.067778],[-0.766959,0.629533,0.124352],[0.052556,-0.131511,0.989921]] 2025-10-27T03:55:55.614Z,1761537355.614 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-27T03:55:55.861Z,1761537355.861 [DAT](INFO): DAT read: Range 11 to 50 : 153.1 m (Round-trip 204.2 ms) speed 0.0 m/s 2025-10-27T03:55:55.861Z,1761537355.861 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T03:55:56.014Z,1761537356.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625494,0.776477,0.076430],[-0.772647,0.602814,0.199075],[0.108504,-0.183573,0.976999]] 2025-10-27T03:55:56.419Z,1761537356.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610791,0.783525,0.114122],[-0.788670,0.589243,0.175478],[0.070246,-0.197185,0.977846]] 2025-10-27T03:55:57.229Z,1761537357.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648635,0.761098,-0.001611],[-0.754967,0.643675,0.125332],[0.096426,-0.080079,0.992114]] 2025-10-27T03:55:57.631Z,1761537357.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642362,0.764671,-0.051476],[-0.763691,0.644289,0.040840],[0.064394,0.013078,0.997839]] 2025-10-27T03:55:58.036Z,1761537358.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651704,0.758152,-0.022081],[-0.758197,0.651976,0.008022],[0.020478,0.011514,0.999724]] 2025-10-27T03:55:58.311Z,1761537358.311 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:55:58.438Z,1761537358.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630895,0.775862,0.002959],[-0.771740,0.627141,0.105416],[0.079932,-0.068790,0.994424]] 2025-10-27T03:55:58.841Z,1761537358.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620781,0.779060,0.087731],[-0.779862,0.602177,0.170876],[0.080293,-0.174495,0.981379]] 2025-10-27T03:55:59.658Z,1761537359.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610530,0.791218,-0.035045],[-0.757537,0.596305,0.265628],[0.231067,-0.135626,0.963439]] 2025-10-27T03:56:00.058Z,1761537360.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599479,0.798865,-0.049390],[-0.765933,0.590489,0.254300],[0.232316,-0.114618,0.965863]] 2025-10-27T03:56:00.462Z,1761537360.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587354,0.806959,-0.061911],[-0.767924,0.579826,0.272204],[0.255555,-0.112337,0.960246]] 2025-10-27T03:56:00.867Z,1761537360.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570747,0.821104,0.006021],[-0.792198,0.548696,0.267124],[0.216033,-0.157230,0.963643]] 2025-10-27T03:56:01.720Z,1761537361.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600874,0.798580,0.034926],[-0.773687,0.570052,0.276495],[0.200894,-0.193160,0.960381]] 2025-10-27T03:56:02.150Z,1761537362.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613717,0.789261,-0.020453],[-0.759952,0.597554,0.255739],[0.214067,-0.141408,0.966530]] 2025-10-27T03:56:02.694Z,1761537362.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622810,0.776916,-0.092248],[-0.738925,0.622865,0.256961],[0.257095,-0.091873,0.962009]] 2025-10-27T03:56:03.178Z,1761537363.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635623,0.762953,-0.117841],[-0.739546,0.645559,0.190593],[0.221487,-0.033996,0.974571]] 2025-10-27T03:56:03.593Z,1761537363.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642784,0.761265,-0.085463],[-0.738589,0.645477,0.194537],[0.203259,-0.061924,0.977165]] 2025-10-27T03:56:03.977Z,1761537363.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641990,0.766010,-0.032805],[-0.741044,0.630907,0.229805],[0.196730,-0.123222,0.972684]] 2025-10-27T03:56:04.543Z,1761537364.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665293,0.746154,0.025287],[-0.723540,0.636039,0.268223],[0.184052,-0.196743,0.963025]] 2025-10-27T03:56:05.984Z,1761537365.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644140,0.757843,-0.103716],[-0.736137,0.651025,0.185117],[0.207811,-0.042892,0.977228]] 2025-10-27T03:56:06.386Z,1761537366.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633651,0.768117,-0.092106],[-0.741075,0.636846,0.212686],[0.222024,-0.066511,0.972770]] 2025-10-27T03:56:06.794Z,1761537366.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635503,0.770919,-0.042658],[-0.741571,0.624827,0.244262],[0.214960,-0.123596,0.968771]] 2025-10-27T03:56:07.310Z,1761537367.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593193,0.802530,-0.063782],[-0.754172,0.581671,0.304768],[0.281686,-0.132683,0.950289]] 2025-10-27T03:56:07.702Z,1761537367.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576819,0.812956,-0.079890],[-0.756352,0.568466,0.323696],[0.308565,-0.126289,0.942783]] 2025-10-27T03:56:08.098Z,1761537368.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593287,0.796894,-0.113887],[-0.734434,0.593763,0.328713],[0.329571,-0.111378,0.937538]] 2025-10-27T03:56:08.502Z,1761537368.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612686,0.775356,-0.153098],[-0.718897,0.627232,0.299611],[0.328333,-0.073506,0.941697]] 2025-10-27T03:56:08.906Z,1761537368.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579998,0.793847,-0.182782],[-0.737338,0.606979,0.296494],[0.346316,-0.037193,0.937380]] 2025-10-27T03:56:09.314Z,1761537369.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533000,0.823850,-0.192827],[-0.737965,0.564122,0.370369],[0.413907,-0.055107,0.908650]] 2025-10-27T03:56:09.722Z,1761537369.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521354,0.843760,-0.127511],[-0.743224,0.522401,0.417990],[0.419295,-0.123151,0.899458]] 2025-10-27T03:56:10.128Z,1761537370.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533544,0.844356,-0.048937],[-0.757316,0.502703,0.416847],[0.376568,-0.185345,0.907658]] 2025-10-27T03:56:10.522Z,1761537370.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535303,0.843726,-0.039713],[-0.755838,0.499469,0.423367],[0.377042,-0.196613,0.905087]] 2025-10-27T03:56:10.926Z,1761537370.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509257,0.853117,-0.113350],[-0.742123,0.502008,0.444118],[0.435788,-0.142051,0.888769]] 2025-10-27T03:56:11.031Z,1761537371.031 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:56:11.737Z,1761537371.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480460,0.871281,-0.100143],[-0.762716,0.471475,0.442692],[0.432923,-0.136315,0.891064]] 2025-10-27T03:56:12.138Z,1761537372.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473731,0.875867,-0.091842],[-0.761959,0.459931,0.455941],[0.441585,-0.146014,0.885258]] 2025-10-27T03:56:12.542Z,1761537372.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503998,0.861242,-0.065178],[-0.747834,0.472895,0.465955],[0.432123,-0.186098,0.882404]] 2025-10-27T03:56:12.951Z,1761537372.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517817,0.851421,-0.083354],[-0.738796,0.494181,0.458221],[0.431331,-0.175693,0.884921]] 2025-10-27T03:56:13.060Z,1761537373.060 [DAT](INFO): setting remote address to 50 2025-10-27T03:56:13.312Z,1761537373.312 [DAT](INFO): DAT read: user:13> 2025-10-27T03:56:13.313Z,1761537373.313 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:56:13.313Z,1761537373.313 [DAT](INFO): set remote address to 50 2025-10-27T03:56:13.313Z,1761537373.313 [DAT](INFO): entering online mode 2025-10-27T03:56:13.564Z,1761537373.564 [DAT](INFO): DAT read: user:14> 2025-10-27T03:56:13.565Z,1761537373.565 [DAT](INFO): DAT read: 2025-10-27T03:56:13.566Z,1761537373.566 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:56:13.566Z,1761537373.566 [DAT](INFO): commRate: 600 2025-10-27T03:56:13.566Z,1761537373.566 [DAT](INFO): online mode acknowledged 2025-10-27T03:56:13.567Z,1761537373.567 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-27T03:56:13.773Z,1761537373.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453616,0.873490,-0.176770],[-0.756003,0.482187,0.442668],[0.471902,-0.067162,0.879089]] 2025-10-27T03:56:14.162Z,1761537374.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442057,0.885869,-0.140790],[-0.751017,0.451356,0.481924],[0.490468,-0.107302,0.864828]] 2025-10-27T03:56:14.569Z,1761537374.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447169,0.889718,-0.091876],[-0.741776,0.426278,0.517742],[0.499809,-0.163366,0.850589]] 2025-10-27T03:56:14.971Z,1761537374.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455293,0.886825,-0.079054],[-0.733668,0.423997,0.530998],[0.504421,-0.183760,0.843678]] 2025-10-27T03:56:15.374Z,1761537375.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455203,0.884794,-0.099653],[-0.736264,0.436981,0.516684],[0.500705,-0.161825,0.850357]] 2025-10-27T03:56:15.786Z,1761537375.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458694,0.881166,-0.114654],[-0.732502,0.448001,0.512578],[0.503032,-0.151132,0.850951]] 2025-10-27T03:56:16.184Z,1761537376.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465848,0.872993,-0.144459],[-0.715403,0.467658,0.519128],[0.520753,-0.138488,0.842400]] 2025-10-27T03:56:16.653Z,1761537376.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466287,0.867565,-0.172939],[-0.708298,0.483258,0.514563],[0.529991,-0.117441,0.839832]] 2025-10-27T03:56:16.840Z,1761537376.840 [DAT](INFO): DAT read: Forwarding Delay UpTx time:03:56:15.9799 2025-10-27T03:56:16.841Z,1761537376.841 [DAT](DEBUG): In parseResponses, sent ack so set commsState_ = SENDING_VERIFIED 2025-10-27T03:56:16.841Z,1761537376.841 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-27T03:56:17.018Z,1761537377.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464185,0.864643,-0.192160],[-0.706354,0.492256,0.508673],[0.534413,-0.100385,0.839241]] 2025-10-27T03:56:17.410Z,1761537377.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468452,0.861012,-0.198019],[-0.689039,0.496337,0.528086],[0.552973,-0.110940,0.825781]] 2025-10-27T03:56:17.814Z,1761537377.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475741,0.854024,-0.210508],[-0.664544,0.505775,0.550066],[0.576239,-0.121798,0.808155]] 2025-10-27T03:56:18.217Z,1761537378.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472074,0.844029,-0.254481],[-0.645900,0.527616,0.551755],[0.599966,-0.096100,0.794233]] 2025-10-27T03:56:18.648Z,1761537378.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468986,0.836199,-0.284294],[-0.635282,0.543003,0.549149],[0.613570,-0.076936,0.785883]] 2025-10-27T03:56:19.047Z,1761537379.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476966,0.833501,-0.278890],[-0.632604,0.545842,0.549426],[0.610177,-0.085630,0.787624]] 2025-10-27T03:56:19.449Z,1761537379.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487861,0.828291,-0.275546],[-0.633320,0.553094,0.541288],[0.600747,-0.089564,0.794406]] 2025-10-27T03:56:19.855Z,1761537379.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494342,0.820254,-0.287767],[-0.633902,0.566687,0.526340],[0.594806,-0.077776,0.800098]] 2025-10-27T03:56:20.268Z,1761537380.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497715,0.814952,-0.296871],[-0.634664,0.575490,0.515765],[0.591170,-0.068291,0.803651]] 2025-10-27T03:56:20.662Z,1761537380.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503666,0.813227,-0.291517],[-0.634017,0.577170,0.514681],[0.586808,-0.074401,0.806301]] 2025-10-27T03:56:21.065Z,1761537381.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511869,0.812257,-0.279694],[-0.631427,0.576493,0.518609],[0.582486,-0.088854,0.807970]] 2025-10-27T03:56:21.480Z,1761537381.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519575,0.810432,-0.270634],[-0.627149,0.576848,0.523384],[0.580282,-0.102209,0.807977]] 2025-10-27T03:56:21.873Z,1761537381.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524447,0.808702,-0.266376],[-0.622029,0.577538,0.528706],[0.581408,-0.111585,0.805924]] 2025-10-27T03:56:22.277Z,1761537382.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526593,0.805153,-0.272816],[-0.615889,0.582532,0.530413],[0.585988,-0.111288,0.802642]] 2025-10-27T03:56:22.683Z,1761537382.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525308,0.800155,-0.289487],[-0.609428,0.591214,0.528264],[0.593842,-0.101080,0.798207]] 2025-10-27T03:56:23.086Z,1761537383.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520590,0.795691,-0.309615],[-0.603527,0.599445,0.525758],[0.603938,-0.086843,0.792286]] 2025-10-27T03:56:23.894Z,1761537383.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516144,0.793068,-0.323478],[-0.586565,0.602505,0.541229],[0.624128,-0.089611,0.776166]] 2025-10-27T03:56:24.298Z,1761537384.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522987,0.789374,-0.321517],[-0.575460,0.605275,0.549989],[0.628753,-0.102617,0.770804]] 2025-10-27T03:56:24.709Z,1761537384.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530782,0.781851,-0.327077],[-0.568357,0.614659,0.546959],[0.628682,-0.104420,0.770621]] 2025-10-27T03:56:25.108Z,1761537385.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534466,0.775006,-0.337212],[-0.566908,0.624638,0.537068],[0.626867,-0.095876,0.773205]] 2025-10-27T03:56:25.509Z,1761537385.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533217,0.772500,-0.344854],[-0.569309,0.629188,0.529160],[0.625753,-0.085828,0.775285]] 2025-10-27T03:56:25.913Z,1761537385.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530531,0.775229,-0.342865],[-0.572760,0.626020,0.529193],[0.624886,-0.084373,0.776143]] 2025-10-27T03:56:26.318Z,1761537386.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531423,0.781127,-0.327766],[-0.575993,0.616913,0.536331],[0.621146,-0.096228,0.777765]] 2025-10-27T03:56:26.792Z,1761537386.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537475,0.785859,-0.305854],[-0.579383,0.607667,0.543190],[0.612728,-0.114744,0.781919]] 2025-10-27T03:56:27.125Z,1761537387.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545458,0.788520,-0.284099],[-0.583159,0.600514,0.547091],[0.601997,-0.132740,0.787388]] 2025-10-27T03:56:27.530Z,1761537387.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549654,0.790983,-0.268749],[-0.586881,0.594561,0.549608],[0.594518,-0.144370,0.791015]] 2025-10-27T03:56:27.934Z,1761537387.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551681,0.790437,-0.266191],[-0.587680,0.594859,0.548430],[0.591845,-0.146123,0.792696]] 2025-10-27T03:56:28.338Z,1761537388.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553578,0.786994,-0.272381],[-0.584585,0.600159,0.545957],[0.593137,-0.143000,0.792300]] 2025-10-27T03:56:28.756Z,1761537388.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555777,0.781041,-0.284757],[-0.578514,0.609351,0.542229],[0.597021,-0.136622,0.790507]] 2025-10-27T03:56:29.146Z,1761537389.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557397,0.773323,-0.302126],[-0.571235,0.621287,0.536370],[0.602494,-0.126386,0.788053]] 2025-10-27T03:56:29.550Z,1761537389.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557272,0.764653,-0.323657],[-0.563226,0.634515,0.529308],[0.610102,-0.112677,0.784270]] 2025-10-27T03:56:29.955Z,1761537389.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554662,0.757375,-0.344577],[-0.555031,0.645293,0.524916],[0.619911,-0.099900,0.778287]] 2025-10-27T03:56:30.360Z,1761537390.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550438,0.752572,-0.361461],[-0.546987,0.652165,0.524868],[0.630733,-0.091193,0.770623]] 2025-10-27T03:56:30.792Z,1761537390.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548322,0.746712,-0.376514],[-0.538048,0.659676,0.524720],[0.640192,-0.085133,0.763483]] 2025-10-27T03:56:31.196Z,1761537391.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548157,0.741019,-0.387832],[-0.528345,0.666264,0.526254],[0.648363,-0.083561,0.756732]] 2025-10-27T03:56:32.005Z,1761537392.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545027,0.738678,-0.396611],[-0.514251,0.668143,0.537710],[0.662187,-0.089109,0.744022]] 2025-10-27T03:56:32.411Z,1761537392.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543154,0.741403,-0.394088],[-0.513142,0.664617,0.543111],[0.664582,-0.092770,0.741434]] 2025-10-27T03:56:32.810Z,1761537392.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542790,0.746030,-0.385769],[-0.515155,0.658503,0.548624],[0.663321,-0.099057,0.741750]] 2025-10-27T03:56:33.213Z,1761537393.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544479,0.750126,-0.375305],[-0.518046,0.652645,0.552885],[0.659674,-0.106609,0.743952]] 2025-10-27T03:56:33.620Z,1761537393.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547483,0.753630,-0.363736],[-0.520189,0.646979,0.557514],[0.655488,-0.116018,0.746240]] 2025-10-27T03:56:34.022Z,1761537394.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547951,0.758605,-0.352517],[-0.521904,0.639365,0.564649],[0.653733,-0.125420,0.746260]] 2025-10-27T03:56:34.425Z,1761537394.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545335,0.766099,-0.340150],[-0.523615,0.628231,0.575459],[0.654551,-0.135710,0.743738]] 2025-10-27T03:56:34.830Z,1761537394.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543193,0.774871,-0.323290],[-0.524653,0.613875,0.589828],[0.655500,-0.150776,0.739991]] 2025-10-27T03:56:35.254Z,1761537395.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542800,0.781336,-0.308031],[-0.524091,0.601707,0.602725],[0.656275,-0.165723,0.736098]] 2025-10-27T03:56:35.637Z,1761537395.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543774,0.784184,-0.298940],[-0.521536,0.594833,0.611697],[0.657503,-0.176717,0.732435]] 2025-10-27T03:56:36.445Z,1761537396.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549374,0.775730,-0.310533],[-0.509044,0.605427,0.611827],[0.662618,-0.178047,0.727487]] 2025-10-27T03:56:36.849Z,1761537396.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554669,0.763761,-0.330168],[-0.500555,0.623255,0.600832],[0.664671,-0.167996,0.728004]] 2025-10-27T03:56:37.257Z,1761537397.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558948,0.750028,-0.353603],[-0.493344,0.643551,0.585196],[0.666475,-0.152646,0.729733]] 2025-10-27T03:56:37.658Z,1761537397.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562147,0.736368,-0.376501],[-0.488515,0.662982,0.567281],[0.667341,-0.134969,0.732420]] 2025-10-27T03:56:38.466Z,1761537398.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567465,0.717540,-0.403881],[-0.484813,0.687633,0.540479],[0.665537,-0.110896,0.738080]] 2025-10-27T03:56:38.870Z,1761537398.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570995,0.713805,-0.405520],[-0.484069,0.691696,0.535942],[0.663055,-0.109721,0.740486]] 2025-10-27T03:56:39.274Z,1761537399.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574367,0.709751,-0.407867],[-0.483835,0.696247,0.530230],[0.660308,-0.107206,0.743304]] 2025-10-27T03:56:39.679Z,1761537399.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576069,0.708419,-0.407783],[-0.484409,0.697710,0.527777],[0.658401,-0.106502,0.745094]] 2025-10-27T03:56:40.095Z,1761537400.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576935,0.711945,-0.400350],[-0.485242,0.693031,0.533150],[0.657028,-0.113326,0.745299]] 2025-10-27T03:56:40.485Z,1761537400.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577992,0.716562,-0.390467],[-0.486179,0.686673,0.540472],[0.655405,-0.122552,0.745269]] 2025-10-27T03:56:40.894Z,1761537400.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580100,0.719414,-0.382005],[-0.486323,0.682115,0.546085],[0.653432,-0.131006,0.745563]] 2025-10-27T03:56:41.307Z,1761537401.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586335,0.719647,-0.371915],[-0.482742,0.679097,0.552981],[0.650517,-0.144693,0.745581]] 2025-10-27T03:56:41.710Z,1761537401.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589907,0.715507,-0.374246],[-0.479077,0.683223,0.551081],[0.649996,-0.145794,0.745821]] 2025-10-27T03:56:42.110Z,1761537402.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593925,0.708508,-0.381142],[-0.474628,0.691096,0.545082],[0.649601,-0.142837,0.746737]] 2025-10-27T03:56:42.220Z,1761537402.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:56:42.509Z,1761537402.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598368,0.699969,-0.389872],[-0.469530,0.700629,0.537271],[0.649228,-0.138429,0.747890]] 2025-10-27T03:56:42.911Z,1761537402.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603734,0.689359,-0.400361],[-0.464062,0.712266,0.526615],[0.648191,-0.132143,0.749925]] 2025-10-27T03:56:43.314Z,1761537403.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608658,0.678480,-0.411340],[-0.459257,0.724019,0.514664],[0.647007,-0.124344,0.752277]] 2025-10-27T03:56:43.731Z,1761537403.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613244,0.666777,-0.423486],[-0.454546,0.736356,0.501166],[0.646003,-0.114843,0.754647]] 2025-10-27T03:56:44.130Z,1761537404.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617501,0.655473,-0.434797],[-0.450003,0.747771,0.488196],[0.645128,-0.105802,0.756714]] 2025-10-27T03:56:44.526Z,1761537404.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621082,0.646989,-0.442337],[-0.445863,0.755836,0.479498],[0.644564,-0.100586,0.757905]] 2025-10-27T03:56:44.929Z,1761537404.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624426,0.640223,-0.447444],[-0.442118,0.761953,0.473244],[0.643913,-0.097683,0.758838]] 2025-10-27T03:56:45.334Z,1761537405.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627524,0.634433,-0.451341],[-0.438894,0.767045,0.467989],[0.643107,-0.095583,0.759788]] 2025-10-27T03:56:45.746Z,1761537405.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630549,0.629650,-0.453816],[-0.436299,0.771125,0.463692],[0.641912,-0.094381,0.760948]] 2025-10-27T03:56:46.144Z,1761537406.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633668,0.627079,-0.453030],[-0.434273,0.772975,0.462511],[0.640212,-0.096340,0.762133]] 2025-10-27T03:56:46.545Z,1761537406.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636837,0.626670,-0.449138],[-0.432840,0.772671,0.464359],[0.638035,-0.101316,0.763313]] 2025-10-27T03:56:47.353Z,1761537407.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643153,0.627904,-0.438282],[-0.431651,0.770050,0.469788],[0.632481,-0.112961,0.766295]] 2025-10-27T03:56:47.759Z,1761537407.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645542,0.629180,-0.432906],[-0.431842,0.768232,0.472581],[0.629911,-0.118124,0.767632]] 2025-10-27T03:56:48.172Z,1761537408.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647464,0.630938,-0.427443],[-0.432460,0.766006,0.475619],[0.627510,-0.123094,0.768816]] 2025-10-27T03:56:48.570Z,1761537408.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649308,0.632470,-0.422351],[-0.433436,0.764068,0.477842],[0.624926,-0.127205,0.770251]] 2025-10-27T03:56:48.969Z,1761537408.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651090,0.633564,-0.417946],[-0.434935,0.762714,0.478642],[0.622023,-0.129860,0.772155]] 2025-10-27T03:56:49.376Z,1761537409.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652916,0.635453,-0.412190],[-0.436444,0.760403,0.480941],[0.619046,-0.134117,0.773819]] 2025-10-27T03:56:49.778Z,1761537409.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654545,0.636276,-0.408317],[-0.437932,0.759345,0.481259],[0.616268,-0.136191,0.775672]] 2025-10-27T03:56:50.182Z,1761537410.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655661,0.635143,-0.408292],[-0.439392,0.760709,0.477763],[0.614039,-0.133850,0.777843]] 2025-10-27T03:56:50.992Z,1761537410.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656879,0.631933,-0.411303],[-0.440456,0.764350,0.470922],[0.611971,-0.128178,0.780424]] 2025-10-27T03:56:51.394Z,1761537411.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657085,0.630619,-0.412989],[-0.440068,0.765719,0.469057],[0.612029,-0.126467,0.780658]] 2025-10-27T03:56:51.799Z,1761537411.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657289,0.628573,-0.415772],[-0.438986,0.767760,0.466729],[0.612586,-0.124258,0.780576]] 2025-10-27T03:56:52.210Z,1761537412.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658434,0.624879,-0.419514],[-0.436753,0.771170,0.463189],[0.612953,-0.121755,0.780682]] 2025-10-27T03:56:52.255Z,1761537412.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:56:52.404Z,1761537412.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:56:52.455Z,1761537412.455 [DAT](INFO): entering command mode 2025-10-27T03:56:52.642Z,1761537412.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660779,0.618906,-0.424649],[-0.433328,0.776512,0.457445],[0.612861,-0.118258,0.781292]] 2025-10-27T03:56:52.656Z,1761537412.656 [DAT](INFO): DAT read: 2025-10-27T03:56:52.656Z,1761537412.656 [DAT](INFO): DAT read: user:15> 2025-10-27T03:56:52.657Z,1761537412.657 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:56:52.657Z,1761537412.657 [DAT](INFO): setting remote address to 0 2025-10-27T03:56:52.908Z,1761537412.908 [DAT](INFO): DAT read: user:15> 2025-10-27T03:56:52.909Z,1761537412.909 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:56:52.909Z,1761537412.909 [DAT](INFO): set remote address to 0 2025-10-27T03:56:52.910Z,1761537412.910 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:56:52.910Z,1761537412.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:56:53.010Z,1761537413.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664295,0.612134,-0.428958],[-0.428905,0.782163,0.451953],[0.612170,-0.116248,0.782134]] 2025-10-27T03:56:53.160Z,1761537413.160 [DAT](INFO): DAT read: user:16> 2025-10-27T03:56:53.161Z,1761537413.161 [DAT](INFO): DAT read: Tx time:03:56:52.2311 2025-10-27T03:56:53.161Z,1761537413.161 [DAT](INFO): Ping request sent. 2025-10-27T03:56:53.161Z,1761537413.161 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:56:53.161Z,1761537413.161 [DAT](INFO): publishing transmit ping time 2025-10-27T03:56:53.162Z,1761537413.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T03:56:53.412Z,1761537413.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250777 2025-10-27T03:56:53.415Z,1761537413.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669007,0.604994,-0.431754],[-0.423443,0.787647,0.447559],[0.610840,-0.116597,0.783122]] 2025-10-27T03:56:53.664Z,1761537413.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503073 2025-10-27T03:56:53.818Z,1761537413.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674700,0.597828,-0.432877],[-0.417423,0.792741,0.444207],[0.608719,-0.119014,0.784409]] 2025-10-27T03:56:53.916Z,1761537413.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935 2025-10-27T03:56:54.168Z,1761537414.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007257 2025-10-27T03:56:54.237Z,1761537414.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681106,0.590274,-0.433211],[-0.411011,0.797886,0.440963],[0.605942,-0.122288,0.786054]] 2025-10-27T03:56:54.420Z,1761537414.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258779 2025-10-27T03:56:54.648Z,1761537414.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688314,0.581953,-0.433075],[-0.404456,0.803474,0.436858],[0.602196,-0.125535,0.788417]] 2025-10-27T03:56:54.672Z,1761537414.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510953 2025-10-27T03:56:54.924Z,1761537414.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762800 2025-10-27T03:56:55.029Z,1761537415.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696281,0.571606,-0.434119],[-0.397645,0.810710,0.429683],[0.597554,-0.126555,0.791778]] 2025-10-27T03:56:55.177Z,1761537415.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015854 2025-10-27T03:56:55.428Z,1761537415.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266799 2025-10-27T03:56:55.436Z,1761537415.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704580,0.559849,-0.436046],[-0.390637,0.818988,0.420311],[0.592427,-0.125806,0.795741]] 2025-10-27T03:56:55.680Z,1761537415.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518816 2025-10-27T03:56:55.839Z,1761537415.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712587,0.546866,-0.439496],[-0.383898,0.828263,0.408169],[0.587232,-0.122134,0.800151]] 2025-10-27T03:56:55.933Z,1761537415.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771208 2025-10-27T03:56:56.184Z,1761537416.184 [DAT](INFO): DAT read: Rx Time:03:56:54.8303 2025-10-27T03:56:56.185Z,1761537416.185 [DAT](INFO): Rx dataTimestamp_ set to:1761537416.184598 2025-10-27T03:56:56.186Z,1761537416.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024954 2025-10-27T03:56:56.243Z,1761537416.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719788,0.534051,-0.443503],[-0.377957,0.837368,0.394922],[0.582284,-0.116635,0.804576]] 2025-10-27T03:56:56.436Z,1761537416.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274788 2025-10-27T03:56:56.698Z,1761537416.698 [DAT](INFO): DAT read: 03:56:54.8303 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 314, 0.05,-2.339, 1.874, 2.560,-3.070, PHS= 0.833,-1.294,-0.697, RAW= 105.8, 12.2, CAL= 107.3, 14.0, ROT= 42.7, -14.0 2025-10-27T03:56:56.700Z,1761537416.700 [DAT](INFO): got valid direction response: 03:56:54.8303 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 314, 0.05,-2.339, 1.874, 2.560,-3.070, PHS= 0.833,-1.294,-0.697, RAW= 105.8, 12.2, CAL= 107.3, 14.0, ROT= 42.7, -14.0 2025-10-27T03:56:56.701Z,1761537416.701 [DAT](INFO): DAT read: Bearing 202.4, 66.5 (Local) 2025-10-27T03:56:56.702Z,1761537416.702 [DAT](INFO): Local bearing/azimuth received: Bearing 202.4, 66.5 (Local) 2025-10-27T03:56:56.705Z,1761537416.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725472,0.523440,-0.446880],[-0.373235,0.844741,0.383547],[0.578261,-0.111461,0.808202]] 2025-10-27T03:56:56.709Z,1761537416.709 [DAT](INFO): DAT read: Range 11 to 50 : 146.3 m (Round-trip 195.1 ms) speed 0.3 m/s 2025-10-27T03:56:56.710Z,1761537416.710 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:56:56.763Z,1761537416.763 [DAT](INFO): direction in FSK: [0.713084,0.658015,0.241922] 2025-10-27T03:56:56.764Z,1761537416.764 [DAT](INFO): publishing direction and range info 2025-10-27T03:56:57.052Z,1761537417.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729795,0.513785,-0.451026],[-0.369794,0.851536,0.371670],[0.575023,-0.104457,0.811441]] 2025-10-27T03:56:57.456Z,1761537417.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732772,0.506189,-0.454773],[-0.367502,0.856856,0.361579],[0.572703,-0.097825,0.813905]] 2025-10-27T03:56:57.858Z,1761537417.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734784,0.501287,-0.456952],[-0.366139,0.860217,0.354922],[0.570995,-0.093483,0.815614]] 2025-10-27T03:56:58.262Z,1761537418.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735995,0.498462,-0.458091],[-0.365832,0.862194,0.350412],[0.569630,-0.090317,0.816923]] 2025-10-27T03:56:58.666Z,1761537418.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736389,0.498026,-0.457931],[-0.366316,0.862556,0.349013],[0.568808,-0.089262,0.817612]] 2025-10-27T03:56:59.072Z,1761537419.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736331,0.500081,-0.455780],[-0.367242,0.861135,0.351541],[0.568287,-0.091469,0.817731]] 2025-10-27T03:56:59.474Z,1761537419.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735913,0.503703,-0.452454],[-0.368061,0.858497,0.357091],[0.568299,-0.096257,0.817173]] 2025-10-27T03:56:59.878Z,1761537419.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735120,0.508099,-0.448814],[-0.368472,0.855160,0.364594],[0.569058,-0.102645,0.815866]] 2025-10-27T03:57:00.700Z,1761537420.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732763,0.516544,-0.442991],[-0.367330,0.848255,0.381487],[0.572824,-0.116816,0.811312]] 2025-10-27T03:57:01.090Z,1761537421.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730810,0.518431,-0.444010],[-0.365754,0.846644,0.386545],[0.576316,-0.120093,0.808355]] 2025-10-27T03:57:01.494Z,1761537421.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728531,0.519464,-0.446541],[-0.363494,0.845686,0.390752],[0.580615,-0.122360,0.804931]] 2025-10-27T03:57:01.898Z,1761537421.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726110,0.519406,-0.450535],[-0.360479,0.845548,0.393832],[0.585508,-0.123557,0.801196]] 2025-10-27T03:57:02.301Z,1761537422.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724186,0.516932,-0.456438],[-0.356498,0.847213,0.393877],[0.590308,-0.122521,0.797825]] 2025-10-27T03:57:02.712Z,1761537422.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722730,0.513347,-0.462748],[-0.351553,0.849522,0.393350],[0.595039,-0.121605,0.794444]] 2025-10-27T03:57:03.109Z,1761537423.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721296,0.509284,-0.469428],[-0.346336,0.852134,0.392324],[0.599820,-0.120402,0.791024]] 2025-10-27T03:57:03.516Z,1761537423.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720013,0.504750,-0.476244],[-0.341197,0.855078,0.390418],[0.604289,-0.118613,0.787887]] 2025-10-27T03:57:03.917Z,1761537423.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718899,0.502573,-0.480212],[-0.336414,0.856096,0.392333],[0.608284,-0.120498,0.784520]] 2025-10-27T03:57:04.731Z,1761537424.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717741,0.502205,-0.482325],[-0.328106,0.854892,0.401879],[0.614162,-0.130191,0.778367]] 2025-10-27T03:57:05.131Z,1761537425.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718010,0.500782,-0.483404],[-0.323976,0.855146,0.404680],[0.616037,-0.133953,0.776244]] 2025-10-27T03:57:05.534Z,1761537425.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718744,0.499685,-0.483448],[-0.319328,0.854902,0.408867],[0.617605,-0.139492,0.774019]] 2025-10-27T03:57:06.342Z,1761537426.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720976,0.496925,-0.482968],[-0.309830,0.854583,0.416765],[0.619838,-0.150840,0.770096]] 2025-10-27T03:57:07.149Z,1761537427.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720886,0.495374,-0.484694],[-0.301093,0.853767,0.424764],[0.624233,-0.160268,0.764622]] 2025-10-27T03:57:07.553Z,1761537427.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720067,0.493647,-0.487665],[-0.296243,0.854213,0.427270],[0.627490,-0.163196,0.761330]] 2025-10-27T03:57:07.958Z,1761537427.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718594,0.491148,-0.492338],[-0.291061,0.855381,0.428494],[0.631591,-0.164612,0.757625]] 2025-10-27T03:57:08.369Z,1761537428.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716750,0.486253,-0.499828],[-0.285411,0.858548,0.425953],[0.636247,-0.162645,0.754146]] 2025-10-27T03:57:08.766Z,1761537428.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714508,0.480689,-0.508346],[-0.279817,0.862293,0.422081],[0.641233,-0.159337,0.750621]] 2025-10-27T03:57:09.180Z,1761537429.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712172,0.474129,-0.517700],[-0.274607,0.866849,0.416130],[0.646067,-0.154193,0.747544]] 2025-10-27T03:57:09.574Z,1761537429.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710118,0.466501,-0.527361],[-0.269999,0.872169,0.407949],[0.650256,-0.147305,0.745297]] 2025-10-27T03:57:09.979Z,1761537429.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708609,0.457616,-0.537085],[-0.266121,0.878289,0.397225],[0.653493,-0.138547,0.744145]] 2025-10-27T03:57:10.340Z,1761537430.340 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.311352 2025-10-27T03:57:10.390Z,1761537430.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707615,0.449815,-0.544929],[-0.263240,0.883502,0.387464],[0.655733,-0.130728,0.743589]] 2025-10-27T03:57:10.785Z,1761537430.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707022,0.444954,-0.549669],[-0.261688,0.886694,0.381173],[0.656993,-0.125656,0.743351]] 2025-10-27T03:57:11.190Z,1761537431.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706770,0.441900,-0.552450],[-0.260984,0.888695,0.376973],[0.657544,-0.122253,0.743431]] 2025-10-27T03:57:11.344Z,1761537431.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:57:11.594Z,1761537431.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707295,0.440988,-0.552507],[-0.260319,0.889126,0.376415],[0.657243,-0.122409,0.743672]] 2025-10-27T03:57:12.008Z,1761537432.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707696,0.442307,-0.550936],[-0.259998,0.888111,0.379024],[0.656938,-0.124992,0.743512]] 2025-10-27T03:57:12.402Z,1761537432.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708454,0.445066,-0.547730],[-0.259616,0.886018,0.384151],[0.656272,-0.129954,0.743249]] 2025-10-27T03:57:12.805Z,1761537432.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709715,0.449198,-0.542702],[-0.258705,0.882707,0.392301],[0.655268,-0.138022,0.742680]] 2025-10-27T03:57:13.210Z,1761537433.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711335,0.453169,-0.537253],[-0.257434,0.879255,0.400797],[0.654011,-0.146794,0.742106]] 2025-10-27T03:57:13.616Z,1761537433.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713366,0.453747,-0.534062],[-0.255183,0.877954,0.405066],[0.652680,-0.152677,0.742091]] 2025-10-27T03:57:14.017Z,1761537434.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715780,0.452049,-0.532269],[-0.252339,0.878136,0.406451],[0.651140,-0.156617,0.742622]] 2025-10-27T03:57:14.421Z,1761537434.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718509,0.447735,-0.532238],[-0.248858,0.880076,0.404395],[0.649472,-0.158109,0.743766]] 2025-10-27T03:57:14.826Z,1761537434.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721130,0.443247,-0.532451],[-0.245343,0.882131,0.402061],[0.647904,-0.159305,0.744878]] 2025-10-27T03:57:15.230Z,1761537435.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724173,0.436001,-0.534300],[-0.241243,0.885988,0.396013],[0.646046,-0.157885,0.746791]] 2025-10-27T03:57:15.640Z,1761537435.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727330,0.428721,-0.535901],[-0.237082,0.889756,0.390034],[0.644037,-0.156631,0.748788]] 2025-10-27T03:57:16.038Z,1761537436.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730277,0.419992,-0.538797],[-0.233162,0.894568,0.381291],[0.642130,-0.152821,0.751209]] 2025-10-27T03:57:16.442Z,1761537436.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733403,0.411360,-0.541206],[-0.228890,0.899075,0.373193],[0.640101,-0.149824,0.753540]] 2025-10-27T03:57:16.532Z,1761537436.532 [Radio_Surface](INFO): Powering down 2025-10-27T03:57:16.845Z,1761537436.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736232,0.401817,-0.544523],[-0.224936,0.904193,0.363098],[0.638253,-0.144841,0.756078]] 2025-10-27T03:57:17.250Z,1761537437.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739138,0.390717,-0.548649],[-0.220364,0.910006,0.351182],[0.636487,-0.138669,0.758720]] 2025-10-27T03:57:17.660Z,1761537437.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741960,0.380484,-0.552021],[-0.215617,0.915042,0.340893],[0.634827,-0.133903,0.760963]] 2025-10-27T03:57:18.057Z,1761537438.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744649,0.370507,-0.555178],[-0.211082,0.919815,0.330734],[0.633200,-0.129092,0.763146]] 2025-10-27T03:57:18.462Z,1761537438.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747479,0.360793,-0.557766],[-0.206672,0.924285,0.320911],[0.631318,-0.124600,0.765450]] 2025-10-27T03:57:18.866Z,1761537438.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750010,0.352532,-0.559648],[-0.202886,0.927953,0.312636],[0.629541,-0.120935,0.767498]] 2025-10-27T03:57:19.271Z,1761537439.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752356,0.345980,-0.560588],[-0.199806,0.930739,0.306270],[0.627725,-0.118416,0.769376]] 2025-10-27T03:57:19.674Z,1761537439.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754726,0.339724,-0.561227],[-0.197476,0.933444,0.299475],[0.625613,-0.115193,0.771582]] 2025-10-27T03:57:20.077Z,1761537440.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757011,0.334022,-0.561573],[-0.195797,0.935928,0.292750],[0.623377,-0.111661,0.773908]] 2025-10-27T03:57:20.481Z,1761537440.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759244,0.329497,-0.561231],[-0.195069,0.937931,0.286763],[0.620883,-0.108244,0.776394]] 2025-10-27T03:57:20.888Z,1761537440.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761387,0.327137,-0.559707],[-0.195472,0.939012,0.282926],[0.618127,-0.106010,0.778897]] 2025-10-27T03:57:21.289Z,1761537441.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763452,0.326357,-0.557344],[-0.196548,0.939412,0.280846],[0.615232,-0.104868,0.781340]] 2025-10-27T03:57:21.697Z,1761537441.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765545,0.327794,-0.553618],[-0.197948,0.938742,0.282099],[0.612175,-0.106372,0.783535]] 2025-10-27T03:57:22.098Z,1761537442.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767553,0.331623,-0.548533],[-0.199626,0.936878,0.287069],[0.609108,-0.110840,0.785304]] 2025-10-27T03:57:22.508Z,1761537442.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769804,0.336592,-0.542316],[-0.201374,0.934334,0.294055],[0.605681,-0.117156,0.787035]] 2025-10-27T03:57:22.906Z,1761537442.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772348,0.341061,-0.535870],[-0.202862,0.931886,0.300726],[0.601935,-0.123558,0.788928]] 2025-10-27T03:57:23.310Z,1761537443.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775052,0.344736,-0.529577],[-0.204080,0.929723,0.306540],[0.598035,-0.129508,0.790937]] 2025-10-27T03:57:24.130Z,1761537444.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781157,0.350167,-0.516892],[-0.205939,0.926088,0.316150],[0.589393,-0.140515,0.795533]] 2025-10-27T03:57:24.522Z,1761537444.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784559,0.351727,-0.510642],[-0.206207,0.924673,0.320090],[0.584762,-0.145831,0.797989]] 2025-10-27T03:57:24.927Z,1761537444.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787966,0.351907,-0.505244],[-0.206320,0.924043,0.321832],[0.580122,-0.149350,0.800720]] 2025-10-27T03:57:25.330Z,1761537445.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791559,0.350466,-0.500608],[-0.206227,0.924343,0.321029],[0.575243,-0.150875,0.803948]] 2025-10-27T03:57:25.743Z,1761537445.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795002,0.349249,-0.495981],[-0.205922,0.924458,0.320895],[0.570586,-0.152978,0.806864]] 2025-10-27T03:57:26.146Z,1761537446.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800983,0.346205,-0.488435],[-0.205295,0.925208,0.319129],[0.562388,-0.155344,0.812150]] 2025-10-27T03:57:26.546Z,1761537446.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803504,0.345000,-0.485135],[-0.205083,0.925479,0.318479],[0.558857,-0.156406,0.814380]] 2025-10-27T03:57:26.954Z,1761537446.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805890,0.343536,-0.482208],[-0.204609,0.925867,0.317656],[0.555586,-0.157332,0.816438]] 2025-10-27T03:57:27.358Z,1761537447.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808108,0.341752,-0.479758],[-0.203708,0.926371,0.316765],[0.552689,-0.158249,0.818225]] 2025-10-27T03:57:27.757Z,1761537447.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810143,0.337653,-0.479228],[-0.202380,0.928300,0.311932],[0.550192,-0.155724,0.820389]] 2025-10-27T03:57:28.568Z,1761537448.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813949,0.328230,-0.479325],[-0.198429,0.932548,0.301631],[0.545998,-0.150400,0.824176]] 2025-10-27T03:57:28.966Z,1761537448.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815740,0.322206,-0.480367],[-0.195684,0.935242,0.295010],[0.544313,-0.146651,0.825964]] 2025-10-27T03:57:29.370Z,1761537449.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817696,0.314599,-0.482079],[-0.192222,0.938606,0.286479],[0.542608,-0.141586,0.827967]] 2025-10-27T03:57:29.774Z,1761537449.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819776,0.306078,-0.484029],[-0.188258,0.942250,0.276992],[0.540858,-0.135949,0.830055]] 2025-10-27T03:57:30.179Z,1761537450.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822005,0.296600,-0.486145],[-0.183511,0.946085,0.266920],[0.539103,-0.130197,0.832116]] 2025-10-27T03:57:30.615Z,1761537450.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824155,0.287533,-0.487948],[-0.178685,0.949549,0.257739],[0.537438,-0.125228,0.833953]] 2025-10-27T03:57:30.986Z,1761537450.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826538,0.277655,-0.489635],[-0.173165,0.953115,0.248163],[0.535583,-0.120328,0.835866]] 2025-10-27T03:57:31.390Z,1761537451.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828639,0.268769,-0.491040],[-0.167648,0.956086,0.240402],[0.534089,-0.116885,0.837309]] 2025-10-27T03:57:31.796Z,1761537451.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830963,0.259516,-0.492090],[-0.161836,0.959040,0.232490],[0.532268,-0.113553,0.838926]] 2025-10-27T03:57:32.641Z,1761537452.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835101,0.242931,-0.493550],[-0.150906,0.963954,0.219133],[0.528993,-0.108518,0.841659]] 2025-10-27T03:57:33.006Z,1761537453.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837045,0.235666,-0.493778],[-0.145601,0.965884,0.214168],[0.527404,-0.107373,0.842802]] 2025-10-27T03:57:33.411Z,1761537453.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839039,0.228503,-0.493760],[-0.139902,0.967626,0.210065],[0.525776,-0.107174,0.843844]] 2025-10-27T03:57:33.813Z,1761537453.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840772,0.222374,-0.493611],[-0.134770,0.969016,0.206992],[0.524346,-0.107509,0.844691]] 2025-10-27T03:57:34.218Z,1761537454.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842462,0.214925,-0.494029],[-0.129392,0.970859,0.201717],[0.522987,-0.106016,0.845722]] 2025-10-27T03:57:34.644Z,1761537454.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844056,0.209218,-0.493758],[-0.124697,0.972088,0.198735],[0.521555,-0.106174,0.846586]] 2025-10-27T03:57:35.026Z,1761537455.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845678,0.203820,-0.493241],[-0.119968,0.973149,0.196441],[0.520036,-0.106953,0.847422]] 2025-10-27T03:57:35.432Z,1761537455.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847409,0.198861,-0.492292],[-0.115554,0.974060,0.194560],[0.518213,-0.107986,0.848407]] 2025-10-27T03:57:35.833Z,1761537455.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849056,0.194416,-0.491229],[-0.111751,0.974878,0.192678],[0.516348,-0.108699,0.849452]] 2025-10-27T03:57:36.237Z,1761537456.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850622,0.190450,-0.490072],[-0.108565,0.975625,0.190706],[0.514447,-0.109014,0.850565]] 2025-10-27T03:57:37.051Z,1761537457.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853573,0.182717,-0.487882],[-0.102228,0.977017,0.187050],[0.510846,-0.109785,0.852634]] 2025-10-27T03:57:37.450Z,1761537457.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855075,0.178871,-0.486674],[-0.099136,0.977695,0.185161],[0.508939,-0.110080,0.853735]] 2025-10-27T03:57:37.854Z,1761537457.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856648,0.175213,-0.485236],[-0.095753,0.978217,0.184179],[0.506937,-0.111314,0.854766]] 2025-10-27T03:57:38.663Z,1761537458.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859501,0.166791,-0.483155],[-0.088325,0.979506,0.181014],[0.503445,-0.112907,0.856619]] 2025-10-27T03:57:39.089Z,1761537459.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860871,0.162620,-0.482138],[-0.083669,0.979896,0.181116],[0.501898,-0.115578,0.857170]] 2025-10-27T03:57:39.470Z,1761537459.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862086,0.158150,-0.481452],[-0.078250,0.980204,0.181869],[0.500684,-0.119113,0.857396]] 2025-10-27T03:57:39.874Z,1761537459.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863350,0.153048,-0.480835],[-0.072343,0.980592,0.182225],[0.499392,-0.122539,0.857666]] 2025-10-27T03:57:40.279Z,1761537460.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864524,0.145968,-0.480927],[-0.065470,0.981450,0.180194],[0.498308,-0.124296,0.858044]] 2025-10-27T03:57:40.681Z,1761537460.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865629,0.136860,-0.481617],[-0.057981,0.982845,0.175080],[0.497317,-0.123630,0.858715]] 2025-10-27T03:57:41.094Z,1761537461.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866514,0.127187,-0.482676],[-0.049989,0.984243,0.169610],[0.496643,-0.122841,0.859218]] 2025-10-27T03:57:41.479Z,1761537461.479 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:57:41.496Z,1761537461.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867223,0.116885,-0.484006],[-0.041587,0.985663,0.163518],[0.496180,-0.121679,0.859651]] 2025-10-27T03:57:41.895Z,1761537461.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867721,0.106841,-0.485434],[-0.033515,0.986979,0.157319],[0.495921,-0.120239,0.860003]] 2025-10-27T03:57:42.297Z,1761537462.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868102,0.095389,-0.487133],[-0.025601,0.988660,0.147974],[0.495724,-0.115986,0.860700]] 2025-10-27T03:57:42.483Z,1761537462.483 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-27T03:57:42.483Z,1761537462.483 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:57:42.707Z,1761537462.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868445,0.084255,-0.488574],[-0.018230,0.990214,0.138359],[0.495450,-0.111250,0.861483]] 2025-10-27T03:57:43.108Z,1761537463.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868808,0.073120,-0.489721],[-0.011011,0.991645,0.128527],[0.495027,-0.106273,0.862354]] 2025-10-27T03:57:43.518Z,1761537463.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869136,0.063404,-0.490493],[-0.004822,0.992788,0.119789],[0.494550,-0.101747,0.863173]] 2025-10-27T03:57:43.914Z,1761537463.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869320,0.055221,-0.491156],[0.000633,0.993614,0.112834],[0.494250,-0.098400,0.863733]] 2025-10-27T03:57:44.319Z,1761537464.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869526,0.048798,-0.491470],[0.005849,0.994020,0.109044],[0.493852,-0.097691,0.864041]] 2025-10-27T03:57:45.126Z,1761537465.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869622,0.037305,-0.492307],[0.014383,0.994804,0.100789],[0.493509,-0.094729,0.864567]] 2025-10-27T03:57:45.530Z,1761537465.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869461,0.032404,-0.492938],[0.018147,0.995078,0.097422],[0.493669,-0.093650,0.864593]] 2025-10-27T03:57:45.934Z,1761537465.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869215,0.028739,-0.493599],[0.021591,0.995151,0.095964],[0.493963,-0.094071,0.864379]] 2025-10-27T03:57:46.340Z,1761537466.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868986,0.025527,-0.494178],[0.024776,0.995171,0.094973],[0.494216,-0.094774,0.864158]] 2025-10-27T03:57:47.145Z,1761537467.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868202,0.016477,-0.495938],[0.033160,0.995288,0.091119],[0.495102,-0.095555,0.863564]] 2025-10-27T03:57:47.565Z,1761537467.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867659,0.011663,-0.497024],[0.037989,0.995247,0.089672],[0.495707,-0.096686,0.863091]] 2025-10-27T03:57:47.955Z,1761537467.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867018,0.005443,-0.498246],[0.043660,0.995265,0.086845],[0.496360,-0.097050,0.862675]] 2025-10-27T03:57:48.358Z,1761537468.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866292,-0.001633,-0.499536],[0.049526,0.995348,0.082635],[0.497077,-0.096326,0.862343]] 2025-10-27T03:57:48.762Z,1761537468.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865536,-0.008197,-0.500780],[0.055519,0.995274,0.079667],[0.497760,-0.096758,0.861901]] 2025-10-27T03:57:49.171Z,1761537469.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864653,-0.014708,-0.502154],[0.061537,0.995145,0.076813],[0.498587,-0.097318,0.861360]] 2025-10-27T03:57:49.580Z,1761537469.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863845,-0.022463,-0.503257],[0.068333,0.994997,0.072881],[0.499102,-0.097347,0.861058]] 2025-10-27T03:57:49.974Z,1761537469.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862938,-0.030271,-0.504402],[0.075737,0.994677,0.069876],[0.499602,-0.098501,0.860637]] 2025-10-27T03:57:50.377Z,1761537470.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862045,-0.038043,-0.505402],[0.083118,0.994290,0.066929],[0.499970,-0.099704,0.860284]] 2025-10-27T03:57:50.782Z,1761537470.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861325,-0.046885,-0.505887],[0.090589,0.993949,0.062118],[0.499914,-0.099331,0.860360]] 2025-10-27T03:57:51.192Z,1761537471.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860657,-0.055006,-0.506205],[0.098139,0.993428,0.058908],[0.499638,-0.100378,0.860399]] 2025-10-27T03:57:51.589Z,1761537471.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860168,-0.063891,-0.505993],[0.106132,0.992827,0.055058],[0.498846,-0.101061,0.860778]] 2025-10-27T03:57:52.014Z,1761537472.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859783,-0.072085,-0.505546],[0.113608,0.992177,0.051740],[0.497861,-0.101919,0.861247]] 2025-10-27T03:57:52.398Z,1761537472.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859433,-0.078799,-0.505139],[0.120194,0.991499,0.049828],[0.496919,-0.103538,0.861598]] 2025-10-27T03:57:52.416Z,1761537472.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:57:52.420Z,1761537472.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:57:52.420Z,1761537472.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:57:52.672Z,1761537472.672 [DAT](INFO): DAT read: user:17> 2025-10-27T03:57:52.673Z,1761537472.673 [DAT](INFO): DAT read: Tx time:03:57:51.7310 2025-10-27T03:57:52.673Z,1761537472.673 [DAT](INFO): Ping request sent. 2025-10-27T03:57:52.673Z,1761537472.673 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:57:52.673Z,1761537472.673 [DAT](INFO): publishing transmit ping time 2025-10-27T03:57:52.674Z,1761537472.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T03:57:52.801Z,1761537472.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858992,-0.086141,-0.504691],[0.127095,0.990766,0.047213],[0.495963,-0.104700,0.862008]] 2025-10-27T03:57:52.925Z,1761537472.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251296 2025-10-27T03:57:53.176Z,1761537473.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502842 2025-10-27T03:57:53.205Z,1761537473.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858525,-0.093010,-0.504266],[0.133659,0.990007,0.044954],[0.495046,-0.105994,0.862378]] 2025-10-27T03:57:53.428Z,1761537473.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755095 2025-10-27T03:57:53.610Z,1761537473.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857935,-0.100329,-0.503866],[0.140137,0.989257,0.041633],[0.494276,-0.106328,0.862778]] 2025-10-27T03:57:53.681Z,1761537473.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007646 2025-10-27T03:57:53.932Z,1761537473.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258761 2025-10-27T03:57:54.015Z,1761537474.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857332,-0.107099,-0.503500],[0.145904,0.988562,0.038161],[0.493654,-0.106180,0.863152]] 2025-10-27T03:57:54.184Z,1761537474.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510789 2025-10-27T03:57:54.418Z,1761537474.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856691,-0.113683,-0.503147],[0.151585,0.987828,0.034906],[0.493055,-0.106174,0.863495]] 2025-10-27T03:57:54.436Z,1761537474.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762965 2025-10-27T03:57:54.688Z,1761537474.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015063 2025-10-27T03:57:54.941Z,1761537474.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267472 2025-10-27T03:57:55.192Z,1761537475.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518898 2025-10-27T03:57:55.228Z,1761537475.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855291,-0.124391,-0.502995],[0.161328,0.986433,0.030376],[0.492392,-0.107127,0.863755]] 2025-10-27T03:57:55.444Z,1761537475.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777 2025-10-27T03:57:55.630Z,1761537475.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854604,-0.130196,-0.502693],[0.165992,0.985761,0.026886],[0.492035,-0.106420,0.864047]] 2025-10-27T03:57:55.697Z,1761537475.697 [DAT](INFO): DAT read: Rx Time:03:57:54.2998 2025-10-27T03:57:55.698Z,1761537475.698 [DAT](INFO): Rx dataTimestamp_ set to:1761537475.697327 2025-10-27T03:57:55.699Z,1761537475.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025375 2025-10-27T03:57:55.948Z,1761537475.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274867 2025-10-27T03:57:56.046Z,1761537476.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853689,-0.135863,-0.502749],[0.170042,0.985180,0.022503],[0.492241,-0.104699,0.864140]] 2025-10-27T03:57:56.205Z,1761537476.205 [DAT](INFO): DAT read: 03:57:54.2998 LVL= 27856, 32753, 32578, 32755, AGC= 67, IDX= 130, 0.22,-2.740, 1.724, 2.853, 2.828, PHS= 0.817,-1.059,-0.019, RAW= 123.6, 3.3, CAL= 124.9, 4.5, ROT= 25.1, -4.5 2025-10-27T03:57:56.206Z,1761537476.206 [DAT](INFO): got valid direction response: 03:57:54.2998 LVL= 27856, 32753, 32578, 32755, AGC= 67, IDX= 130, 0.22,-2.740, 1.724, 2.853, 2.828, PHS= 0.817,-1.059,-0.019, RAW= 123.6, 3.3, CAL= 124.9, 4.5, ROT= 25.1, -4.5 2025-10-27T03:57:56.207Z,1761537476.207 [DAT](INFO): DAT read: Bearing 192.9, 53.7 (Local) 2025-10-27T03:57:56.208Z,1761537476.208 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 53.7 (Local) 2025-10-27T03:57:56.209Z,1761537476.209 [DAT](INFO): DAT read: Range 11 to 50 : 123.4 m (Round-trip 164.6 ms) speed 0.3 m/s 2025-10-27T03:57:56.210Z,1761537476.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:57:56.211Z,1761537476.211 [DAT](INFO): direction in FSK: [0.902777,0.422892,0.078459] 2025-10-27T03:57:56.211Z,1761537476.211 [DAT](INFO): publishing direction and range info 2025-10-27T03:57:56.459Z,1761537476.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852830,-0.141489,-0.502654],[0.174036,0.984572,0.018138],[0.492333,-0.102949,0.864297]] 2025-10-27T03:57:56.841Z,1761537476.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851866,-0.146338,-0.502901],[0.177656,0.983984,0.014604],[0.492709,-0.101784,0.864221]] 2025-10-27T03:57:57.246Z,1761537477.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850858,-0.150995,-0.503230],[0.181108,0.983400,0.011145],[0.493194,-0.100622,0.864080]] 2025-10-27T03:57:57.651Z,1761537477.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849664,-0.155990,-0.503724],[0.184683,0.982772,0.007179],[0.493926,-0.099129,0.863835]] 2025-10-27T03:57:58.059Z,1761537478.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848542,-0.160462,-0.504212],[0.187951,0.982171,0.003735],[0.494623,-0.097937,0.863572]] 2025-10-27T03:57:58.461Z,1761537478.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847468,-0.164714,-0.504645],[0.191131,0.981564,0.000594],[0.495244,-0.096957,0.863327]] 2025-10-27T03:57:58.862Z,1761537478.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846328,-0.168038,-0.505462],[0.194506,0.980901,-0.000420],[0.495879,-0.097959,0.862849]] 2025-10-27T03:57:59.272Z,1761537479.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845191,-0.170263,-0.506620],[0.197114,0.980381,-0.000639],[0.496789,-0.099322,0.862169]] 2025-10-27T03:58:00.074Z,1761537480.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843223,-0.173919,-0.508652],[0.202048,0.979376,0.000079],[0.498148,-0.102839,0.860972]] 2025-10-27T03:58:00.481Z,1761537480.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842338,-0.174672,-0.509859],[0.204327,0.978900,0.002207],[0.498716,-0.106037,0.860255]] 2025-10-27T03:58:00.882Z,1761537480.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841774,-0.175703,-0.510436],[0.206659,0.978405,0.004020],[0.498706,-0.108870,0.859906]] 2025-10-27T03:58:01.291Z,1761537481.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841439,-0.176041,-0.510872],[0.208826,0.977928,0.006965],[0.498370,-0.112544,0.859629]] 2025-10-27T03:58:01.691Z,1761537481.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841272,-0.175471,-0.511343],[0.210749,0.977475,0.011302],[0.497842,-0.117273,0.859302]] 2025-10-27T03:58:02.498Z,1761537482.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841043,-0.175593,-0.511677],[0.214763,0.976502,0.017898],[0.496511,-0.124942,0.858991]] 2025-10-27T03:58:03.306Z,1761537483.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841233,-0.175299,-0.511466],[0.218818,0.975430,0.025583],[0.494415,-0.133439,0.858922]] 2025-10-27T03:58:03.716Z,1761537483.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841455,-0.177027,-0.510504],[0.220774,0.974984,0.025803],[0.493166,-0.134418,0.859488]] 2025-10-27T03:58:04.535Z,1761537484.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842378,-0.180257,-0.507845],[0.223588,0.974362,0.025026],[0.490314,-0.134629,0.861085]] 2025-10-27T03:58:04.922Z,1761537484.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842949,-0.181661,-0.506395],[0.224745,0.974105,0.024668],[0.488801,-0.134604,0.861948]] 2025-10-27T03:58:05.332Z,1761537485.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843715,-0.181850,-0.505050],[0.225418,0.973918,0.025901],[0.487167,-0.135700,0.862702]] 2025-10-27T03:58:05.736Z,1761537485.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844655,-0.182809,-0.503130],[0.226229,0.973727,0.025996],[0.485159,-0.135780,0.863820]] 2025-10-27T03:58:06.134Z,1761537486.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845792,-0.183232,-0.501061],[0.226761,0.973583,0.026745],[0.482924,-0.136242,0.864999]] 2025-10-27T03:58:06.942Z,1761537486.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847711,-0.186446,-0.496612],[0.228634,0.973194,0.024904],[0.478656,-0.134654,0.867615]] 2025-10-27T03:58:07.749Z,1761537487.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848906,-0.188241,-0.493887],[0.232212,0.972245,0.028569],[0.474802,-0.138939,0.869056]] 2025-10-27T03:58:08.154Z,1761537488.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849364,-0.190536,-0.492215],[0.234890,0.971583,0.029226],[0.472659,-0.140439,0.869983]] 2025-10-27T03:58:08.558Z,1761537488.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849644,-0.192983,-0.490777],[0.238184,0.970737,0.030636],[0.470503,-0.142925,0.870746]] 2025-10-27T03:58:08.963Z,1761537488.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849423,-0.198047,-0.489140],[0.242435,0.969753,0.028363],[0.468728,-0.142677,0.871744]] 2025-10-27T03:58:09.770Z,1761537489.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848084,-0.209204,-0.486814],[0.251172,0.967699,0.021708],[0.466548,-0.140684,0.873236]] 2025-10-27T03:58:10.174Z,1761537490.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847097,-0.216801,-0.485206],[0.256205,0.966499,0.015441],[0.465603,-0.137392,0.874264]] 2025-10-27T03:58:10.580Z,1761537490.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845697,-0.224447,-0.484169],[0.261320,0.965210,0.009003],[0.465304,-0.134136,0.874928]] 2025-10-27T03:58:10.982Z,1761537490.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844273,-0.232653,-0.482779],[0.266463,0.963844,0.001504],[0.464974,-0.129912,0.875741]] 2025-10-27T03:58:11.392Z,1761537491.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840932,-0.250825,-0.479500],[0.276753,0.960787,-0.017224],[0.465018,-0.118219,0.877373]] 2025-10-27T03:58:11.794Z,1761537491.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839246,-0.259131,-0.478035],[0.281601,0.959191,-0.025569],[0.465152,-0.113156,0.877969]] 2025-10-27T03:58:12.200Z,1761537492.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837340,-0.266432,-0.477363],[0.286204,0.957619,-0.032449],[0.465777,-0.109452,0.878107]] 2025-10-27T03:58:12.603Z,1761537492.603 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:58:12.605Z,1761537492.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835611,-0.273477,-0.476408],[0.290509,0.956066,-0.039271],[0.466218,-0.105586,0.878347]] 2025-10-27T03:58:13.015Z,1761537493.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833873,-0.278854,-0.476336],[0.294556,0.954656,-0.043221],[0.466790,-0.104267,0.878200]] 2025-10-27T03:58:13.412Z,1761537493.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832158,-0.283784,-0.476424],[0.298207,0.953344,-0.046994],[0.467532,-0.102967,0.877959]] 2025-10-27T03:58:13.607Z,1761537493.607 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:58:13.809Z,1761537493.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830443,-0.287843,-0.476981],[0.301826,0.952099,-0.049069],[0.468258,-0.103216,0.877543]] 2025-10-27T03:58:14.214Z,1761537494.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828774,-0.290982,-0.477978],[0.305038,0.951024,-0.050051],[0.469132,-0.104320,0.876945]] 2025-10-27T03:58:14.619Z,1761537494.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826974,-0.293798,-0.479371],[0.307992,0.950025,-0.050929],[0.470378,-0.105525,0.876133]] 2025-10-27T03:58:15.025Z,1761537495.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825270,-0.295893,-0.481016],[0.310773,0.949133,-0.050664],[0.471540,-0.107675,0.875247]] 2025-10-27T03:58:15.428Z,1761537495.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823615,-0.297918,-0.482600],[0.313638,0.948220,-0.050093],[0.472534,-0.110104,0.874407]] 2025-10-27T03:58:15.830Z,1761537495.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822054,-0.298866,-0.484671],[0.316121,0.947499,-0.048086],[0.473597,-0.113685,0.873374]] 2025-10-27T03:58:16.234Z,1761537496.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820289,-0.300619,-0.486573],[0.318769,0.946643,-0.047467],[0.474880,-0.116168,0.872350]] 2025-10-27T03:58:16.705Z,1761537496.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818674,-0.302227,-0.488295],[0.320903,0.945923,-0.047447],[0.476230,-0.117852,0.871388]] 2025-10-27T03:58:17.227Z,1761537497.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817114,-0.303768,-0.489948],[0.323184,0.945168,-0.047012],[0.477364,-0.119929,0.870483]] 2025-10-27T03:58:17.630Z,1761537497.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815811,-0.304426,-0.491708],[0.324944,0.944628,-0.045710],[0.478396,-0.122487,0.869560]] 2025-10-27T03:58:18.512Z,1761537498.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815447,-0.305140,-0.491870],[0.326725,0.944093,-0.044022],[0.477804,-0.124809,0.869555]] 2025-10-27T03:58:18.947Z,1761537498.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816032,-0.304229,-0.491464],[0.327099,0.944087,-0.041297],[0.476548,-0.127057,0.869918]] 2025-10-27T03:58:19.451Z,1761537499.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817937,-0.301920,-0.489718],[0.326584,0.944451,-0.036804],[0.473627,-0.129831,0.871104]] 2025-10-27T03:58:19.867Z,1761537499.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818998,-0.300228,-0.488985],[0.326166,0.944710,-0.033743],[0.472079,-0.131855,0.871640]] 2025-10-27T03:58:20.249Z,1761537500.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820480,-0.298620,-0.487481],[0.325374,0.945068,-0.031290],[0.470047,-0.132941,0.872572]] 2025-10-27T03:58:20.654Z,1761537500.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822167,-0.296997,-0.485628],[0.324983,0.945307,-0.027929],[0.467363,-0.134859,0.873719]] 2025-10-27T03:58:21.059Z,1761537501.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824072,-0.295100,-0.483551],[0.324615,0.945546,-0.023832],[0.464253,-0.137328,0.874992]] 2025-10-27T03:58:21.461Z,1761537501.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825892,-0.294564,-0.480765],[0.324888,0.945515,-0.021202],[0.460815,-0.138684,0.876593]] 2025-10-27T03:58:21.893Z,1761537501.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827745,-0.294266,-0.477751],[0.325060,0.945499,-0.019177],[0.457356,-0.139424,0.878286]] 2025-10-27T03:58:22.271Z,1761537502.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829397,-0.294312,-0.474849],[0.325419,0.945407,-0.017569],[0.454096,-0.139953,0.879892]] 2025-10-27T03:58:22.680Z,1761537502.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830914,-0.295331,-0.471552],[0.326269,0.945124,-0.017014],[0.450700,-0.139716,0.881674]] 2025-10-27T03:58:23.079Z,1761537503.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832373,-0.295082,-0.469128],[0.327228,0.944846,-0.013710],[0.447299,-0.142100,0.883024]] 2025-10-27T03:58:23.497Z,1761537503.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833749,-0.294478,-0.467061],[0.328191,0.944562,-0.009685],[0.444020,-0.145210,0.884172]] 2025-10-27T03:58:23.921Z,1761537503.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834797,-0.293564,-0.465761],[0.329442,0.944165,-0.004629],[0.441114,-0.149577,0.884898]] 2025-10-27T03:58:25.184Z,1761537505.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836414,-0.297307,-0.460456],[0.334264,0.942478,-0.001351],[0.434372,-0.152784,0.887681]] 2025-10-27T03:58:25.587Z,1761537505.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836364,-0.302152,-0.457383],[0.336906,0.941520,-0.005918],[0.432423,-0.149146,0.889250]] 2025-10-27T03:58:26.070Z,1761537506.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836587,-0.305881,-0.454487],[0.339332,0.940629,-0.008449],[0.430088,-0.147154,0.890713]] 2025-10-27T03:58:26.559Z,1761537506.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836904,-0.310553,-0.450720],[0.342164,0.939563,-0.012037],[0.427218,-0.144146,0.892584]] 2025-10-27T03:58:26.987Z,1761537506.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837361,-0.315814,-0.446193],[0.345492,0.938290,-0.015741],[0.423630,-0.140975,0.894798]] 2025-10-27T03:58:27.380Z,1761537507.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837803,-0.321346,-0.441388],[0.349117,0.936878,-0.019417],[0.419766,-0.137828,0.897106]] 2025-10-27T03:58:27.787Z,1761537507.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838461,-0.325770,-0.436872],[0.352657,0.935522,-0.020774],[0.415471,-0.136648,0.899284]] 2025-10-27T03:58:28.267Z,1761537508.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839976,-0.332961,-0.428458],[0.359686,0.932863,-0.019791],[0.406283,-0.137486,0.903345]] 2025-10-27T03:58:28.665Z,1761537508.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840675,-0.337186,-0.423758],[0.363205,0.931481,-0.020636],[0.401681,-0.136563,0.905540]] 2025-10-27T03:58:29.118Z,1761537509.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841344,-0.341989,-0.418549],[0.367234,0.929878,-0.021593],[0.396584,-0.135538,0.907938]] 2025-10-27T03:58:29.526Z,1761537509.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842012,-0.347723,-0.412438],[0.371366,0.928167,-0.024368],[0.391285,-0.132647,0.910660]] 2025-10-27T03:58:29.934Z,1761537509.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842594,-0.353615,-0.406191],[0.375818,0.926305,-0.026819],[0.385741,-0.130056,0.913394]] 2025-10-27T03:58:30.335Z,1761537510.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843177,-0.359020,-0.400197],[0.380114,0.924500,-0.028514],[0.380219,-0.128078,0.915985]] 2025-10-27T03:58:30.739Z,1761537510.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843690,-0.365298,-0.393377],[0.384849,0.922452,-0.031209],[0.374271,-0.125060,0.918848]] 2025-10-27T03:58:31.549Z,1761537511.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844471,-0.376580,-0.380862],[0.394093,0.918430,-0.034297],[0.362711,-0.121132,0.923996]] 2025-10-27T03:58:31.952Z,1761537511.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844751,-0.382512,-0.374273],[0.398731,0.916339,-0.036557],[0.356944,-0.118352,0.926598]] 2025-10-27T03:58:32.423Z,1761537512.423 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range. Device response is::WD, -21.92, +82.55,+7.00, 2025-10-27T03:58:32.796Z,1761537512.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845511,-0.391633,-0.362954],[0.407595,0.912489,-0.035087],[0.344932,-0.118272,0.931146]] 2025-10-27T03:58:33.194Z,1761537513.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845923,-0.396485,-0.356670],[0.411726,0.910606,-0.035755],[0.338962,-0.116605,0.933546]] 2025-10-27T03:58:33.598Z,1761537513.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846429,-0.400741,-0.350663],[0.415689,0.908825,-0.035223],[0.332806,-0.115953,0.935839]] 2025-10-27T03:58:34.030Z,1761537514.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846912,-0.404653,-0.344958],[0.419566,0.907089,-0.033978],[0.326657,-0.115956,0.938003]] 2025-10-27T03:58:34.408Z,1761537514.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847140,-0.408972,-0.339258],[0.423514,0.905261,-0.033752],[0.320921,-0.115088,0.940088]] 2025-10-27T03:58:34.810Z,1761537514.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847584,-0.413092,-0.333101],[0.427100,0.903573,-0.033792],[0.314940,-0.113626,0.942285]] 2025-10-27T03:58:35.618Z,1761537515.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848457,-0.420081,-0.321952],[0.433611,0.900522,-0.032279],[0.303485,-0.112214,0.946205]] 2025-10-27T03:58:36.030Z,1761537516.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848999,-0.423402,-0.316119],[0.436295,0.899212,-0.032628],[0.298073,-0.110220,0.948158]] 2025-10-27T03:58:36.425Z,1761537516.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849411,-0.426398,-0.310943],[0.439210,0.897835,-0.031406],[0.292568,-0.109892,0.949909]] 2025-10-27T03:58:36.919Z,1761537516.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849516,-0.429872,-0.305832],[0.442441,0.896269,-0.030803],[0.287349,-0.109145,0.951587]] 2025-10-27T03:58:38.536Z,1761537518.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850922,-0.440199,-0.286631],[0.453196,0.891111,-0.023136],[0.265605,-0.110213,0.957762]] 2025-10-27T03:58:38.939Z,1761537518.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851145,-0.442694,-0.282089],[0.456342,0.889598,-0.019168],[0.259431,-0.112414,0.959197]] 2025-10-27T03:58:39.342Z,1761537519.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850971,-0.446358,-0.276791],[0.460001,0.887749,-0.017365],[0.253472,-0.112547,0.960773]] 2025-10-27T03:58:39.829Z,1761537519.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850796,-0.453293,-0.265840],[0.467106,0.884111,-0.012597],[0.240743,-0.113458,0.963935]] 2025-10-27T03:58:40.226Z,1761537520.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850300,-0.457258,-0.260587],[0.471175,0.881981,-0.010179],[0.234487,-0.114126,0.965397]] 2025-10-27T03:58:40.643Z,1761537520.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850044,-0.461299,-0.254219],[0.475065,0.879913,-0.008168],[0.227459,-0.113827,0.967112]] 2025-10-27T03:58:41.037Z,1761537521.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849186,-0.466301,-0.247883],[0.479826,0.877338,-0.006624],[0.220566,-0.113316,0.968767]] 2025-10-27T03:58:41.434Z,1761537521.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848716,-0.470172,-0.242113],[0.483912,0.875111,-0.003091],[0.213329,-0.114538,0.970243]] 2025-10-27T03:58:41.839Z,1761537521.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848273,-0.473885,-0.236362],[0.487832,0.872937,0.000605],[0.206042,-0.115818,0.971665]] 2025-10-27T03:58:41.855Z,1761537521.855 [lineCaptureHoming:InitialDive:C.Pitch] Stopped 2025-10-27T03:58:41.877Z,1761537521.877 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive 2025-10-27T03:58:41.877Z,1761537521.877 [lineCaptureHoming:InitialDive] Stopped 2025-10-27T03:58:41.877Z,1761537521.877 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive 2025-10-27T03:58:41.877Z,1761537521.877 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped 2025-10-27T03:58:41.877Z,1761537521.877 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize. 2025-10-27T03:58:41.877Z,1761537521.877 [lineCaptureHoming:InitialDive:B.Mass] Stopped 2025-10-27T03:58:41.877Z,1761537521.877 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize. 2025-10-27T03:58:41.878Z,1761537521.878 [lineCaptureHoming:RepeatHack] Running Loop=1 2025-10-27T03:58:41.878Z,1761537521.878 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack 2025-10-27T03:58:41.878Z,1761537521.878 [lineCaptureHoming:RepeatHack:A] Running Loop=1 2025-10-27T03:58:42.241Z,1761537522.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847211,-0.479099,-0.229562],[0.492639,0.870232,0.001924],[0.198850,-0.114721,0.973292]] 2025-10-27T03:58:42.349Z,1761537522.349 [lineCaptureHoming:RepeatHack] Stopped 2025-10-27T03:58:42.349Z,1761537522.349 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack 2025-10-27T03:58:42.349Z,1761537522.349 [lineCaptureHoming:RepeatHack:A] Stopped 2025-10-27T03:58:42.349Z,1761537522.349 [lineCaptureHoming:Lap] Running Loop=1 2025-10-27T03:58:42.349Z,1761537522.349 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap 2025-10-27T03:58:42.349Z,1761537522.349 [lineCaptureHoming:Lap:A] Running Loop=1 2025-10-27T03:58:42.645Z,1761537522.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846366,-0.483206,-0.224001],[0.496910,0.867784,0.005573],[0.191692,-0.116025,0.974573]] 2025-10-27T03:58:42.669Z,1761537522.669 [lineCaptureHoming:Lap:A] Stopped 2025-10-27T03:58:42.669Z,1761537522.669 [lineCaptureHoming:Lap:B] Running Loop=1 2025-10-27T03:58:42.669Z,1761537522.669 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B 2025-10-27T03:58:43.049Z,1761537523.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845806,-0.487086,-0.217622],[0.500378,0.865779,0.006957],[0.185024,-0.114777,0.976008]] 2025-10-27T03:58:43.085Z,1761537523.085 [lineCaptureHoming:LineCapture] Running Loop=1 2025-10-27T03:58:43.085Z,1761537523.085 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture 2025-10-27T03:58:43.085Z,1761537523.085 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-27T03:58:43.085Z,1761537523.085 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-27T03:58:43.085Z,1761537523.085 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T03:58:43.085Z,1761537523.085 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-27T03:58:43.086Z,1761537523.086 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize. 2025-10-27T03:58:43.087Z,1761537523.087 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T03:58:43.087Z,1761537523.087 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T03:58:43.087Z,1761537523.087 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T03:58:43.087Z,1761537523.087 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T03:58:43.088Z,1761537523.088 [lineCaptureHoming:LineCapture:A] Running Loop=1 2025-10-27T03:58:43.088Z,1761537523.088 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T03:58:43.088Z,1761537523.088 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T03:58:43.088Z,1761537523.088 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-27T03:58:43.088Z,1761537523.088 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-27T03:58:43.089Z,1761537523.089 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-27T03:58:43.089Z,1761537523.089 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-27T03:58:43.089Z,1761537523.089 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-27T03:58:43.089Z,1761537523.089 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-27T03:58:43.090Z,1761537523.090 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T03:58:43.090Z,1761537523.090 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T03:58:43.090Z,1761537523.090 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T03:58:43.091Z,1761537523.091 [lineCaptureHoming:LineCapture:A] Stopped 2025-10-27T03:58:43.091Z,1761537523.091 [lineCaptureHoming:LineCapture:B] Running Loop=1 2025-10-27T03:58:43.462Z,1761537523.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844551,-0.493651,-0.207466],[0.504687,0.863303,0.000306],[0.178955,-0.104964,0.978242]] 2025-10-27T03:58:43.504Z,1761537523.504 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T03:58:43.505Z,1761537523.505 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T03:58:43.505Z,1761537523.505 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T03:58:43.506Z,1761537523.506 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 123.400002 m (mode 0.000000 count ). 2025-10-27T03:58:43.506Z,1761537523.506 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T03:58:43.506Z,1761537523.506 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T03:58:43.509Z,1761537523.509 [lineCaptureHoming:LineCapture:B] Stopped 2025-10-27T03:58:43.509Z,1761537523.509 [lineCaptureHoming:LineCapture:D] Running Loop=1 2025-10-27T03:58:43.727Z,1761537523.727 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:58:43.859Z,1761537523.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843356,-0.499820,-0.197306],[0.509139,0.860675,-0.004037],[0.171834,-0.097052,0.980334]] 2025-10-27T03:58:43.881Z,1761537523.881 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T03:58:43.881Z,1761537523.881 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T03:58:43.881Z,1761537523.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:58:43.883Z,1761537523.883 [lineCaptureHoming:LineCapture:D] Stopped 2025-10-27T03:58:43.884Z,1761537523.884 [lineCaptureHoming:LineCapture:E] Running Loop=1 2025-10-27T03:58:44.104Z,1761537524.104 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:44.104Z,1761537524.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:58:44.262Z,1761537524.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842599,-0.504884,-0.187399],[0.512928,0.858407,-0.006420],[0.164106,-0.090713,0.982263]] 2025-10-27T03:58:44.304Z,1761537524.304 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T03:58:44.304Z,1761537524.304 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T03:58:44.306Z,1761537524.306 [lineCaptureHoming:LineCapture:E] Stopped 2025-10-27T03:58:44.306Z,1761537524.306 [lineCaptureHoming:LineCapture:F] Running Loop=1 2025-10-27T03:58:44.356Z,1761537524.356 [DAT](INFO): DAT read: user:18> 2025-10-27T03:58:44.357Z,1761537524.357 [DAT](INFO): DAT read: Tx time:03:58:43.4311 2025-10-27T03:58:44.358Z,1761537524.358 [DAT](INFO): Ping request sent. 2025-10-27T03:58:44.358Z,1761537524.358 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:58:44.358Z,1761537524.358 [DAT](INFO): publishing transmit ping time 2025-10-27T03:58:44.359Z,1761537524.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001145 2025-10-27T03:58:44.608Z,1761537524.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250034 2025-10-27T03:58:44.665Z,1761537524.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841634,-0.510426,-0.176401],[0.517072,0.855889,-0.009541],[0.155849,-0.083182,0.984272]] 2025-10-27T03:58:44.695Z,1761537524.695 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T03:58:44.696Z,1761537524.696 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T03:58:44.696Z,1761537524.696 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T03:58:44.696Z,1761537524.696 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T03:58:44.703Z,1761537524.703 [lineCaptureHoming:LineCapture:F] Stopped 2025-10-27T03:58:44.704Z,1761537524.704 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1 2025-10-27T03:58:44.704Z,1761537524.704 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-27T03:58:44.704Z,1761537524.704 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-27T03:58:44.704Z,1761537524.704 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-27T03:58:44.704Z,1761537524.704 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2025-10-27T03:58:44.704Z,1761537524.704 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-27T03:58:44.705Z,1761537524.705 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2025-10-27T03:58:44.705Z,1761537524.705 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-27T03:58:44.705Z,1761537524.705 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T03:58:44.705Z,1761537524.705 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-27T03:58:44.706Z,1761537524.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T03:58:44.706Z,1761537524.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-27T03:58:44.706Z,1761537524.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T03:58:44.706Z,1761537524.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-27T03:58:44.706Z,1761537524.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-27T03:58:44.706Z,1761537524.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-27T03:58:44.706Z,1761537524.706 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-27T03:58:44.712Z,1761537524.712 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-27T03:58:44.712Z,1761537524.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-27T03:58:44.712Z,1761537524.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T03:58:44.712Z,1761537524.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-27T03:58:44.712Z,1761537524.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T03:58:44.712Z,1761537524.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-27T03:58:44.713Z,1761537524.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T03:58:44.713Z,1761537524.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-27T03:58:44.713Z,1761537524.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-27T03:58:44.713Z,1761537524.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-27T03:58:44.713Z,1761537524.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T03:58:44.713Z,1761537524.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-27T03:58:44.713Z,1761537524.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-27T03:58:44.714Z,1761537524.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-27T03:58:44.714Z,1761537524.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-27T03:58:44.714Z,1761537524.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-27T03:58:44.731Z,1761537524.731 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:58:44.860Z,1761537524.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502298 2025-10-27T03:58:45.069Z,1761537525.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840906,-0.515485,-0.164782],[0.520902,0.853534,-0.011862],[0.146762,-0.075860,0.986259]] 2025-10-27T03:58:45.112Z,1761537525.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754184 2025-10-27T03:58:45.119Z,1761537525.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-27T03:58:45.119Z,1761537525.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T03:58:45.119Z,1761537525.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-27T03:58:45.119Z,1761537525.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T03:58:45.119Z,1761537525.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-27T03:58:45.119Z,1761537525.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-27T03:58:45.120Z,1761537525.120 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T03:58:45.121Z,1761537525.121 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-27T03:58:45.121Z,1761537525.121 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-27T03:58:45.121Z,1761537525.121 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-27T03:58:45.121Z,1761537525.121 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-27T03:58:45.121Z,1761537525.121 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-27T03:58:45.121Z,1761537525.121 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-27T03:58:45.121Z,1761537525.121 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T03:58:45.122Z,1761537525.122 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.479179 m. 2025-10-27T03:58:45.364Z,1761537525.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005998 2025-10-27T03:58:45.476Z,1761537525.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840329,-0.519898,-0.153470],[0.524386,0.851383,-0.012871],[0.137353,-0.069661,0.988069]] 2025-10-27T03:58:45.593Z,1761537525.593 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T03:58:45.616Z,1761537525.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258299 2025-10-27T03:58:45.868Z,1761537525.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510143 2025-10-27T03:58:45.902Z,1761537525.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:58:45.904Z,1761537525.904 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-27T03:58:46.120Z,1761537526.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762032 2025-10-27T03:58:46.281Z,1761537526.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839485,-0.526668,-0.133737],[0.530564,0.847611,-0.007554],[0.117336,-0.064615,0.990988]] 2025-10-27T03:58:46.372Z,1761537526.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014162 2025-10-27T03:58:46.626Z,1761537526.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268170 2025-10-27T03:58:46.686Z,1761537526.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838832,-0.530288,-0.123107],[0.533798,0.845596,-0.005220],[0.106867,-0.061336,0.992380]] 2025-10-27T03:58:46.876Z,1761537526.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517956 2025-10-27T03:58:47.128Z,1761537527.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770390 2025-10-27T03:58:47.381Z,1761537527.381 [DAT](INFO): DAT read: Rx Time:03:58:45.9592 2025-10-27T03:58:47.382Z,1761537527.382 [DAT](INFO): Rx dataTimestamp_ set to:1761537527.381143 2025-10-27T03:58:47.382Z,1761537527.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024435 2025-10-27T03:58:47.493Z,1761537527.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838171,-0.534975,-0.106165],[0.538745,0.842428,0.008311],[0.084990,-0.064162,0.994314]] 2025-10-27T03:58:47.632Z,1761537527.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274055 2025-10-27T03:58:47.890Z,1761537527.890 [DAT](INFO): DAT read: 03:58:45.9592 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 19,-0.41, 0.951,-0.956, 0.846, 0.703, PHS= 0.351,-1.614, 0.099, RAW= 143.3, 12.5, CAL= 142.8, 13.6, ROT= 7.2, -13.6 2025-10-27T03:58:47.891Z,1761537527.891 [DAT](INFO): got valid direction response: 03:58:45.9592 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 19,-0.41, 0.951,-0.956, 0.846, 0.703, PHS= 0.351,-1.614, 0.099, RAW= 143.3, 12.5, CAL= 142.8, 13.6, ROT= 7.2, -13.6 2025-10-27T03:58:47.892Z,1761537527.892 [DAT](INFO): DAT read: $Error in header 2025-10-27T03:58:47.892Z,1761537527.892 [DAT](INFO): Received a bad header 2025-10-27T03:58:47.903Z,1761537527.903 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T03:58:47.904Z,1761537527.904 [DAT](INFO): direction in FSK: [0.964297,0.121819,0.235142] 2025-10-27T03:58:47.907Z,1761537527.907 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:47.907Z,1761537527.907 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:47.907Z,1761537527.907 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:47.921Z,1761537527.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837679,-0.537691,-0.095826],[0.541215,0.840777,0.013427],[0.073349,-0.063110,0.995308]] 2025-10-27T03:58:47.976Z,1761537527.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:58:48.136Z,1761537528.136 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:48.136Z,1761537528.136 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:48.136Z,1761537528.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:48.310Z,1761537528.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837233,-0.540038,-0.086023],[0.543377,0.839256,0.019794],[0.061506,-0.063315,0.996096]] 2025-10-27T03:58:48.388Z,1761537528.388 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:48.388Z,1761537528.388 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:48.388Z,1761537528.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:48.640Z,1761537528.640 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:48.640Z,1761537528.640 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:48.640Z,1761537528.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:48.719Z,1761537528.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836796,-0.542164,-0.076359],[0.545272,0.837834,0.026685],[0.049509,-0.063967,0.996723]] 2025-10-27T03:58:48.892Z,1761537528.892 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:48.892Z,1761537528.892 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:48.892Z,1761537528.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:49.119Z,1761537529.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835996,-0.544911,-0.064681],[0.547461,0.836270,0.030650],[0.037389,-0.061033,0.997435]] 2025-10-27T03:58:49.144Z,1761537529.144 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:49.144Z,1761537529.144 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:49.144Z,1761537529.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:49.396Z,1761537529.396 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:49.396Z,1761537529.396 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:49.396Z,1761537529.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:49.521Z,1761537529.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834921,-0.547730,-0.053842],[0.549798,0.834512,0.036230],[0.025087,-0.059851,0.997892]] 2025-10-27T03:58:49.648Z,1761537529.648 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:49.648Z,1761537529.648 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:49.649Z,1761537529.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:49.900Z,1761537529.900 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:49.900Z,1761537529.900 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:49.900Z,1761537529.900 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:49.933Z,1761537529.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834080,-0.549960,-0.043071],[0.551500,0.833099,0.042355],[0.012589,-0.059081,0.998174]] 2025-10-27T03:58:50.152Z,1761537530.152 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:50.152Z,1761537530.152 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:50.152Z,1761537530.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:50.330Z,1761537530.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832843,-0.552573,-0.032174],[0.553509,0.831461,0.047957],[0.000252,-0.057750,0.998331]] 2025-10-27T03:58:50.365Z,1761537530.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:58:50.406Z,1761537530.406 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:50.406Z,1761537530.406 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:50.406Z,1761537530.406 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:50.656Z,1761537530.656 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:50.656Z,1761537530.656 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:50.656Z,1761537530.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:50.737Z,1761537530.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831516,-0.555021,-0.023070],[0.555374,0.829722,0.055870],[-0.011867,-0.059269,0.998172]] 2025-10-27T03:58:50.908Z,1761537530.908 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:50.908Z,1761537530.908 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:50.908Z,1761537530.908 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:51.137Z,1761537531.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830376,-0.557033,-0.013767],[0.556683,0.828281,0.063670],[-0.024063,-0.060534,0.997876]] 2025-10-27T03:58:51.160Z,1761537531.160 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:51.160Z,1761537531.160 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:51.160Z,1761537531.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:51.412Z,1761537531.412 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:51.412Z,1761537531.412 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:51.412Z,1761537531.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:51.542Z,1761537531.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828790,-0.559552,-0.003034],[0.558404,0.826716,0.068742],[-0.035957,-0.058666,0.997630]] 2025-10-27T03:58:51.664Z,1761537531.664 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:51.664Z,1761537531.664 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:51.665Z,1761537531.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:51.916Z,1761537531.916 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:51.916Z,1761537531.916 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:51.916Z,1761537531.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:51.964Z,1761537531.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827222,-0.561832,0.006943],[0.559839,0.825212,0.074867],[-0.047792,-0.058045,0.997169]] 2025-10-27T03:58:52.168Z,1761537532.168 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:52.168Z,1761537532.168 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:52.168Z,1761537532.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:52.354Z,1761537532.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825848,-0.563655,0.016368],[0.560784,0.823993,0.080976],[-0.059130,-0.057695,0.996582]] 2025-10-27T03:58:52.396Z,1761537532.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:58:52.421Z,1761537532.421 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:52.421Z,1761537532.421 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:52.421Z,1761537532.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:52.672Z,1761537532.672 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:52.672Z,1761537532.672 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:52.672Z,1761537532.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:52.754Z,1761537532.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824376,-0.565371,0.027562],[0.561597,0.823023,0.085103],[-0.070799,-0.054678,0.995991]] 2025-10-27T03:58:52.928Z,1761537532.928 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:52.929Z,1761537532.929 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:52.929Z,1761537532.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:53.158Z,1761537533.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823006,-0.566763,0.037951],[0.562043,0.822186,0.090098],[-0.082267,-0.052822,0.995210]] 2025-10-27T03:58:53.180Z,1761537533.180 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:53.180Z,1761537533.180 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:53.180Z,1761537533.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:53.433Z,1761537533.433 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:53.433Z,1761537533.433 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:53.434Z,1761537533.434 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:53.562Z,1761537533.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821591,-0.568119,0.047213],[0.562354,0.821262,0.096364],[-0.093521,-0.052621,0.994226]] 2025-10-27T03:58:53.684Z,1761537533.684 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:53.684Z,1761537533.684 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:53.684Z,1761537533.684 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:53.937Z,1761537533.937 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:53.937Z,1761537533.937 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:53.937Z,1761537533.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:53.970Z,1761537533.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820268,-0.569157,0.056747],[0.562322,0.820594,0.102073],[-0.104662,-0.051817,0.993157]] 2025-10-27T03:58:54.188Z,1761537534.188 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:58:54.188Z,1761537534.188 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:58:54.188Z,1761537534.188 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:58:54.381Z,1761537534.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818900,-0.569988,0.067209],[0.562184,0.820189,0.106014],[-0.115551,-0.049031,0.992091]] 2025-10-27T03:58:54.429Z,1761537534.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:58:54.440Z,1761537534.440 [DAT](INFO): Reached modem response timeout 2025-10-27T03:58:54.440Z,1761537534.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:54.441Z,1761537534.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:58:54.692Z,1761537534.692 [DAT](INFO): DAT read: 2025-10-27T03:58:54.693Z,1761537534.693 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:54.774Z,1761537534.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817270,-0.571146,0.076559],[0.562292,0.819467,0.110907],[-0.126082,-0.047592,0.990878]] 2025-10-27T03:58:54.944Z,1761537534.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:55.178Z,1761537535.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815904,-0.572031,0.084156],[0.561841,0.818758,0.118197],[-0.136516,-0.049156,0.989418]] 2025-10-27T03:58:55.196Z,1761537535.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:55.448Z,1761537535.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:55.702Z,1761537535.702 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:55.952Z,1761537535.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:55.986Z,1761537535.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813188,-0.573398,0.099695],[0.560440,0.817682,0.131544],[-0.156946,-0.051097,0.986284]] 2025-10-27T03:58:56.204Z,1761537536.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:56.408Z,1761537536.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811586,-0.574287,0.107347],[0.559918,0.817022,0.137719],[-0.166795,-0.051665,0.984637]] 2025-10-27T03:58:56.456Z,1761537536.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:56.463Z,1761537536.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:58:56.708Z,1761537536.708 [DAT](INFO): DAT read: Response Not Received 2025-10-27T03:58:56.709Z,1761537536.709 [DAT](INFO): response not received 2025-10-27T03:58:56.710Z,1761537536.710 [DAT](INFO): DAT read: user:20>Tx time:03:58:55.8811 2025-10-27T03:58:56.710Z,1761537536.710 [DAT](ERROR): No response from remote modem. 2025-10-27T03:58:56.711Z,1761537536.711 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:56.711Z,1761537536.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:58:56.794Z,1761537536.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809768,-0.575386,0.114919],[0.559640,0.816241,0.143364],[-0.176291,-0.051778,0.982975]] 2025-10-27T03:58:56.960Z,1761537536.960 [DAT](INFO): DAT read: 2025-10-27T03:58:56.960Z,1761537536.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:57.212Z,1761537537.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:57.464Z,1761537537.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:57.604Z,1761537537.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805852,-0.577677,0.129964],[0.559329,0.814692,0.153063],[-0.194302,-0.050653,0.979633]] 2025-10-27T03:58:57.718Z,1761537537.718 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:57.968Z,1761537537.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:58.005Z,1761537538.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803456,-0.579336,0.137216],[0.559796,0.813585,0.157185],[-0.202700,-0.049478,0.977990]] 2025-10-27T03:58:58.220Z,1761537538.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:58.438Z,1761537538.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801032,-0.581085,0.143833],[0.560282,0.812371,0.161668],[-0.210788,-0.048914,0.976307]] 2025-10-27T03:58:58.472Z,1761537538.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:58.476Z,1761537538.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:58:58.724Z,1761537538.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:58.814Z,1761537538.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798592,-0.582952,0.149723],[0.560878,0.811042,0.166214],[-0.218326,-0.048761,0.974657]] 2025-10-27T03:58:58.976Z,1761537538.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:59.223Z,1761537539.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796081,-0.585087,0.154684],[0.561683,0.809469,0.171089],[-0.225314,-0.049317,0.973037]] 2025-10-27T03:58:59.228Z,1761537539.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:59.480Z,1761537539.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:59.622Z,1761537539.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793839,-0.586715,0.159954],[0.562148,0.808309,0.175003],[-0.231969,-0.049006,0.971488]] 2025-10-27T03:58:59.732Z,1761537539.732 [DAT](INFO): DAT read: Rx Time:03:58:58.4031 2025-10-27T03:58:59.733Z,1761537539.733 [DAT](INFO): Rx dataTimestamp_ set to:1761537539.732218 2025-10-27T03:58:59.733Z,1761537539.733 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:58:59.984Z,1761537539.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:00.026Z,1761537540.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791387,-0.588687,0.164788],[0.563025,0.806899,0.178656],[-0.238139,-0.048606,0.970014]] 2025-10-27T03:59:00.240Z,1761537540.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:00.463Z,1761537540.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788998,-0.590807,0.168611],[0.563961,0.805315,0.182799],[-0.243784,-0.049138,0.968584]] 2025-10-27T03:59:00.494Z,1761537540.494 [DAT](INFO): DAT read: 03:58:58.4031 LVL= 32752, 32753, 31730, 32755, AGC= 70, IDX= 370,-0.39, 1.047,-1.159, 0.859, 0.305, PHS= 0.844,-1.419, 0.511, RAW= 142.2, 0.6, CAL= 141.9, 0.9, ROT= 8.1, -0.9 2025-10-27T03:59:00.495Z,1761537540.495 [DAT](INFO): got valid direction response: 03:58:58.4031 LVL= 32752, 32753, 31730, 32755, AGC= 70, IDX= 370,-0.39, 1.047,-1.159, 0.859, 0.305, PHS= 0.844,-1.419, 0.511, RAW= 142.2, 0.6, CAL= 141.9, 0.9, ROT= 8.1, -0.9 2025-10-27T03:59:00.496Z,1761537540.496 [DAT](INFO): DAT read: Bearing 207.4, -5.5 (Local) 2025-10-27T03:59:00.496Z,1761537540.496 [DAT](INFO): Local bearing/azimuth received: Bearing 207.4, -5.5 (Local) 2025-10-27T03:59:00.498Z,1761537540.498 [DAT](INFO): DAT read: Range 11 to 50 : 88.3 m (Round-trip 117.8 ms) speed 0.1 m/s 2025-10-27T03:59:00.499Z,1761537540.499 [DAT](INFO): DAT read: user:21>Tx time:03:58:59.4811 2025-10-27T03:59:00.499Z,1761537540.499 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:59:00.500Z,1761537540.500 [DAT](INFO): direction in FSK: [0.989902,0.140884,0.015707] 2025-10-27T03:59:00.500Z,1761537540.500 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:00.504Z,1761537540.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:00.505Z,1761537540.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:00.740Z,1761537540.740 [DAT](INFO): DAT read: 2025-10-27T03:59:00.740Z,1761537540.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:00.834Z,1761537540.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786689,-0.592669,0.172811],[0.564876,0.803980,0.185824],[-0.249069,-0.048569,0.967267]] 2025-10-27T03:59:00.862Z,1761537540.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:00.992Z,1761537540.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:01.244Z,1761537541.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:01.249Z,1761537541.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784592,-0.594376,0.176442],[0.565647,0.802731,0.188855],[-0.253886,-0.048370,0.966024]] 2025-10-27T03:59:01.497Z,1761537541.497 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:01.641Z,1761537541.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782680,-0.595742,0.180285],[0.566339,0.801786,0.190787],[-0.258210,-0.047223,0.964934]] 2025-10-27T03:59:01.749Z,1761537541.749 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:01.000Z,1761537542.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:02.073Z,1761537542.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780814,-0.597185,0.183575],[0.567153,0.800766,0.192643],[-0.262044,-0.046304,0.963944]] 2025-10-27T03:59:02.252Z,1761537542.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:02.481Z,1761537542.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779349,-0.597995,0.187130],[0.567474,0.800241,0.193875],[-0.265685,-0.044904,0.963013]] 2025-10-27T03:59:02.504Z,1761537542.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:02.756Z,1761537542.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:02.858Z,1761537542.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778156,-0.598606,0.190117],[0.567634,0.799842,0.195051],[-0.268822,-0.043863,0.962191]] 2025-10-27T03:59:02.884Z,1761537542.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:03.011Z,1761537543.011 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:03.262Z,1761537543.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777112,-0.599461,0.191686],[0.567782,0.799162,0.197392],[-0.271517,-0.044560,0.961402]] 2025-10-27T03:59:03.264Z,1761537543.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:03.516Z,1761537543.516 [DAT](INFO): DAT read: Rx Time:03:59:02.0016 2025-10-27T03:59:03.516Z,1761537543.516 [DAT](INFO): Rx dataTimestamp_ set to:1761537543.516112 2025-10-27T03:59:03.517Z,1761537543.517 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:03.661Z,1761537543.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776548,-0.599872,0.192683],[0.567414,0.798773,0.200008],[-0.273889,-0.045984,0.960661]] 2025-10-27T03:59:03.768Z,1761537543.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:04.021Z,1761537544.021 [DAT](INFO): DAT read: Range 11 to 50 : 87.3 m (Round-trip 116.4 ms) speed 0.4 m/s 2025-10-27T03:59:04.022Z,1761537544.022 [DAT](INFO): DAT read: user:22>Tx time:03:59:03.0811 2025-10-27T03:59:04.022Z,1761537544.022 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T03:59:04.023Z,1761537544.023 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:04.023Z,1761537544.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:04.093Z,1761537544.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776458,-0.599546,0.194056],[0.566519,0.798977,0.201721],[-0.275988,-0.046692,0.960026]] 2025-10-27T03:59:04.272Z,1761537544.272 [DAT](INFO): DAT read: 2025-10-27T03:59:04.272Z,1761537544.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:04.509Z,1761537544.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776322,-0.599047,0.196127],[0.565862,0.799407,0.201866],[-0.277713,-0.045732,0.959575]] 2025-10-27T03:59:04.524Z,1761537544.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:04.776Z,1761537544.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:04.873Z,1761537544.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776265,-0.598411,0.198287],[0.565235,0.799966,0.201406],[-0.279146,-0.044266,0.959228]] 2025-10-27T03:59:04.909Z,1761537544.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:05.028Z,1761537545.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:05.280Z,1761537545.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:05.283Z,1761537545.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776442,-0.597552,0.200173],[0.564395,0.800673,0.200947],[-0.280350,-0.043047,0.958932]] 2025-10-27T03:59:05.532Z,1761537545.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:05.681Z,1761537545.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777116,-0.596246,0.201449],[0.563023,0.801668,0.200832],[-0.281240,-0.042650,0.958689]] 2025-10-27T03:59:05.784Z,1761537545.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:06.036Z,1761537546.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:06.089Z,1761537546.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777763,-0.595275,0.201824],[0.561895,0.802366,0.201202],[-0.281707,-0.043083,0.958533]] 2025-10-27T03:59:06.106Z,1761537546.106 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 87.30 m. Transitioning docking module to standby. 2025-10-27T03:59:06.288Z,1761537546.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:06.518Z,1761537546.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778317,-0.594382,0.202317],[0.560844,0.803010,0.201566],[-0.282270,-0.043414,0.958352]] 2025-10-27T03:59:06.542Z,1761537546.542 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:06.620Z,1761537546.620 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:59:06.792Z,1761537546.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:06.895Z,1761537546.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778736,-0.593714,0.202665],[0.560051,0.803489,0.201863],[-0.282688,-0.043695,0.958216]] 2025-10-27T03:59:06.956Z,1761537546.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:07.047Z,1761537547.047 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:07.296Z,1761537547.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:07.549Z,1761537547.549 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:07.717Z,1761537547.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778294,-0.594502,0.202053],[0.560568,0.802850,0.202964],[-0.282881,-0.044702,0.958113]] 2025-10-27T03:59:07.809Z,1761537547.809 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:08.060Z,1761537548.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:08.105Z,1761537548.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777584,-0.595576,0.201627],[0.561788,0.802076,0.202653],[-0.282416,-0.044307,0.958268]] 2025-10-27T03:59:08.312Z,1761537548.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:08.519Z,1761537548.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777001,-0.596468,0.201234],[0.562937,0.801450,0.201939],[-0.281730,-0.043624,0.958502]] 2025-10-27T03:59:08.566Z,1761537548.566 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:08.816Z,1761537548.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:08.923Z,1761537548.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776660,-0.597196,0.200388],[0.563905,0.800922,0.201333],[-0.280730,-0.043368,0.958806]] 2025-10-27T03:59:08.963Z,1761537548.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:09.068Z,1761537549.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:09.320Z,1761537549.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:09.324Z,1761537549.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776588,-0.597838,0.198751],[0.564880,0.800439,0.200518],[-0.278965,-0.043450,0.959318]] 2025-10-27T03:59:09.573Z,1761537549.573 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:09.732Z,1761537549.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776649,-0.598492,0.196527],[0.565841,0.799917,0.199892],[-0.276839,-0.044043,0.959906]] 2025-10-27T03:59:09.824Z,1761537549.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:10.076Z,1761537550.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:10.126Z,1761537550.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776631,-0.599155,0.194570],[0.567062,0.799440,0.198336],[-0.274381,-0.043700,0.960628]] 2025-10-27T03:59:10.328Z,1761537550.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:10.533Z,1761537550.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776480,-0.600044,0.192422],[0.568515,0.798788,0.196796],[-0.271791,-0.043413,0.961377]] 2025-10-27T03:59:10.582Z,1761537550.582 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:10.832Z,1761537550.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:10.938Z,1761537550.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776572,-0.600562,0.190423],[0.569724,0.798436,0.194718],[-0.268981,-0.042724,0.962198]] 2025-10-27T03:59:10.998Z,1761537550.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:11.084Z,1761537551.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:11.336Z,1761537551.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:11.343Z,1761537551.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776609,-0.601051,0.188721],[0.571039,0.798138,0.192068],[-0.266068,-0.041394,0.963065]] 2025-10-27T03:59:11.590Z,1761537551.590 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:11.742Z,1761537551.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776645,-0.601827,0.186084],[0.572499,0.797569,0.190078],[-0.262809,-0.041091,0.963973]] 2025-10-27T03:59:11.840Z,1761537551.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:12.092Z,1761537552.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:12.146Z,1761537552.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776909,-0.602457,0.182917],[0.573559,0.797047,0.189068],[-0.259699,-0.041975,0.964777]] 2025-10-27T03:59:12.344Z,1761537552.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:12.552Z,1761537552.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777536,-0.602811,0.179043],[0.574212,0.796677,0.188644],[-0.256356,-0.043869,0.965586]] 2025-10-27T03:59:12.579Z,1761537552.579 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby. 2025-10-27T03:59:12.598Z,1761537552.598 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:12.848Z,1761537552.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:12.954Z,1761537552.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778917,-0.602054,0.175554],[0.573869,0.797163,0.187630],[-0.252909,-0.045403,0.966424]] 2025-10-27T03:59:12.997Z,1761537552.997 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2025-10-27T03:59:12.997Z,1761537552.997 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2025-10-27T03:59:12.997Z,1761537552.997 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2025-10-27T03:59:13.100Z,1761537553.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:13.352Z,1761537553.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:13.363Z,1761537553.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780191,-0.601342,0.172309],[0.573753,0.797657,0.185877],[-0.249219,-0.046157,0.967347]] 2025-10-27T03:59:13.398Z,1761537553.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:13.404Z,1761537553.404 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2025-10-27T03:59:13.404Z,1761537553.404 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2025-10-27T03:59:13.404Z,1761537553.404 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2025-10-27T03:59:13.606Z,1761537553.606 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:13.761Z,1761537553.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781404,-0.600557,0.169527],[0.573714,0.798254,0.183422],[-0.245481,-0.046066,0.968306]] 2025-10-27T03:59:13.814Z,1761537553.814 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2025-10-27T03:59:13.814Z,1761537553.814 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-27T03:59:13.814Z,1761537553.814 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2025-10-27T03:59:13.814Z,1761537553.814 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-27T03:59:13.815Z,1761537553.815 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-27T03:59:13.857Z,1761537553.857 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:14.108Z,1761537554.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:14.165Z,1761537554.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782638,-0.599638,0.167069],[0.573672,0.798989,0.180325],[-0.241616,-0.045287,0.969315]] 2025-10-27T03:59:14.194Z,1761537554.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-27T03:59:14.194Z,1761537554.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T03:59:14.194Z,1761537554.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-27T03:59:14.194Z,1761537554.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T03:59:14.194Z,1761537554.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-27T03:59:14.194Z,1761537554.194 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-27T03:59:14.195Z,1761537554.195 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-27T03:59:14.199Z,1761537554.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-27T03:59:14.199Z,1761537554.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-27T03:59:14.199Z,1761537554.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-27T03:59:14.200Z,1761537554.200 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-27T03:59:14.200Z,1761537554.200 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-27T03:59:14.200Z,1761537554.200 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-10-27T03:59:14.200Z,1761537554.200 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-27T03:59:14.201Z,1761537554.201 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-10-27T03:59:14.201Z,1761537554.201 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 87.300003 m 2025-10-27T03:59:14.201Z,1761537554.201 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-10-27T03:59:14.201Z,1761537554.201 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-10-27T03:59:14.202Z,1761537554.202 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg ) 2025-10-27T03:59:14.202Z,1761537554.202 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-27T03:59:14.202Z,1761537554.202 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-10-27T03:59:14.202Z,1761537554.202 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-10-27T03:59:14.208Z,1761537554.208 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630 2025-10-27T03:59:14.360Z,1761537554.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:14.570Z,1761537554.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783717,-0.598754,0.165169],[0.573832,0.799753,0.176385],[-0.237705,-0.043457,0.970365]] 2025-10-27T03:59:14.592Z,1761537554.592 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630 2025-10-27T03:59:14.593Z,1761537554.593 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-10-27T03:59:14.593Z,1761537554.593 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-27T03:59:14.593Z,1761537554.593 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-10-27T03:59:14.593Z,1761537554.593 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-27T03:59:14.614Z,1761537554.614 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:14.638Z,1761537554.638 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-10-27T03:59:14.643Z,1761537554.643 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-27T03:59:14.864Z,1761537554.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:14.880Z,1761537554.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:59:14.975Z,1761537554.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784954,-0.597543,0.163675],[0.573680,0.800774,0.172197],[-0.233961,-0.041269,0.971370]] 2025-10-27T03:59:14.993Z,1761537554.993 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 82, -90,A 2025-10-27T03:59:15.006Z,1761537555.006 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-27T03:59:15.006Z,1761537555.006 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-27T03:59:15.006Z,1761537555.006 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-27T03:59:15.008Z,1761537555.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-27T03:59:15.008Z,1761537555.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T03:59:15.008Z,1761537555.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-27T03:59:15.009Z,1761537555.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-27T03:59:15.010Z,1761537555.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-27T03:59:15.010Z,1761537555.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-27T03:59:15.010Z,1761537555.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-27T03:59:15.010Z,1761537555.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-27T03:59:15.010Z,1761537555.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-27T03:59:15.011Z,1761537555.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-27T03:59:15.011Z,1761537555.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T03:59:15.011Z,1761537555.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-27T03:59:15.011Z,1761537555.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-27T03:59:15.011Z,1761537555.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-27T03:59:15.012Z,1761537555.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-10-27T03:59:15.012Z,1761537555.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-27T03:59:15.012Z,1761537555.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-10-27T03:59:15.012Z,1761537555.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-10-27T03:59:15.012Z,1761537555.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-10-27T03:59:15.013Z,1761537555.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-27T03:59:15.013Z,1761537555.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-10-27T03:59:15.014Z,1761537555.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00. 2025-10-27T03:59:15.014Z,1761537555.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T03:59:15.014Z,1761537555.014 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-27T03:59:15.014Z,1761537555.014 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T03:59:15.014Z,1761537555.014 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-27T03:59:15.014Z,1761537555.014 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T03:59:15.015Z,1761537555.015 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-27T03:59:15.015Z,1761537555.015 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-27T03:59:15.015Z,1761537555.015 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-27T03:59:15.015Z,1761537555.015 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-10-27T03:59:15.015Z,1761537555.015 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-10-27T03:59:15.117Z,1761537555.117 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:15.368Z,1761537555.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:15.380Z,1761537555.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786185,-0.596551,0.161373],[0.573542,0.801565,0.168948],[-0.230137,-0.040271,0.972325]] 2025-10-27T03:59:15.431Z,1761537555.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:15.434Z,1761537555.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T03:59:15.441Z,1761537555.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.952766 m, bearing: 43.922993 deg, lat: 36.779353 deg, lon: -121.859577 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T03:59:15.442Z,1761537555.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:15.449Z,1761537555.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.284462 m, bearing: 38.745437 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 36.161047 deg, new cmd heading: 38.745437 deg. 2025-10-27T03:59:15.449Z,1761537555.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676235 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:15.478Z,1761537555.478 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-27T03:59:15.478Z,1761537555.478 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-27T03:59:15.623Z,1761537555.623 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:15.782Z,1761537555.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787576,-0.595652,0.157869],[0.573106,0.802171,0.167545],[-0.226437,-0.041479,0.973142]] 2025-10-27T03:59:15.844Z,1761537555.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:15.847Z,1761537555.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.230392 m, bearing: 38.758064 deg, approach rate: -0.131658 m/s, LOS rate: nan deg/s, cmd heading: 38.745437 deg, new cmd heading: 38.758064 deg. 2025-10-27T03:59:15.859Z,1761537555.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676456 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:15.872Z,1761537555.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:15.884Z,1761537555.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:59:16.124Z,1761537556.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:16.188Z,1761537556.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789053,-0.595000,0.152873],[0.572496,0.802449,0.168294],[-0.222808,-0.045274,0.973810]] 2025-10-27T03:59:16.215Z,1761537556.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:16.218Z,1761537556.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.175629 m, bearing: 38.770985 deg, approach rate: -0.147490 m/s, LOS rate: nan deg/s, cmd heading: 38.758062 deg, new cmd heading: 38.770985 deg. 2025-10-27T03:59:16.219Z,1761537556.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676681 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:16.377Z,1761537556.377 [DAT](INFO): DAT read: Response Not Received 2025-10-27T03:59:16.378Z,1761537556.378 [DAT](INFO): response not received 2025-10-27T03:59:16.379Z,1761537556.379 [DAT](INFO): DAT read: user:23>Tx time:03:59:15.5311 2025-10-27T03:59:16.380Z,1761537556.380 [DAT](ERROR): No response from remote modem. 2025-10-27T03:59:16.381Z,1761537556.381 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:16.381Z,1761537556.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:16.589Z,1761537556.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790250,-0.594693,0.147801],[0.572302,0.802467,0.168871],[-0.219032,-0.048863,0.974494]] 2025-10-27T03:59:16.615Z,1761537556.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:16.628Z,1761537556.628 [DAT](INFO): DAT read: 2025-10-27T03:59:16.628Z,1761537556.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:16.644Z,1761537556.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.120323 m, bearing: 38.784139 deg, approach rate: -0.138441 m/s, LOS rate: nan deg/s, cmd heading: 38.770985 deg, new cmd heading: 38.784139 deg. 2025-10-27T03:59:16.668Z,1761537556.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676911 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:16.883Z,1761537556.883 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:17.129Z,1761537557.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:17.132Z,1761537557.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:17.133Z,1761537557.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.054169 m, bearing: 38.803305 deg, approach rate: -0.128627 m/s, LOS rate: nan deg/s, cmd heading: 38.784140 deg, new cmd heading: 38.803305 deg. 2025-10-27T03:59:17.134Z,1761537557.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677245 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:17.385Z,1761537557.385 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:17.445Z,1761537557.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792177,-0.593239,0.143261],[0.572488,0.803676,0.162365],[-0.211457,-0.046607,0.976275]] 2025-10-27T03:59:17.479Z,1761537557.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:17.481Z,1761537557.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:17.488Z,1761537557.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 80.010284 m, bearing: 38.815968 deg, approach rate: -0.124786 m/s, LOS rate: nan deg/s, cmd heading: 38.803305 deg, new cmd heading: 38.815968 deg. 2025-10-27T03:59:17.488Z,1761537557.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677466 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:17.639Z,1761537557.639 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:17.848Z,1761537557.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793449,-0.591885,0.141810],[0.572130,0.804810,0.157952],[-0.207620,-0.044193,0.977211]] 2025-10-27T03:59:17.889Z,1761537557.889 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:17.942Z,1761537557.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:17.948Z,1761537557.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.953743 m, bearing: 38.833972 deg, approach rate: -0.122756 m/s, LOS rate: nan deg/s, cmd heading: 38.815968 deg, new cmd heading: 38.833972 deg. 2025-10-27T03:59:17.949Z,1761537557.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677781 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:18.140Z,1761537558.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:18.250Z,1761537558.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794491,-0.591076,0.139331],[0.572080,0.805453,0.154821],[-0.203736,-0.043296,0.978068]] 2025-10-27T03:59:18.291Z,1761537558.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:18.293Z,1761537558.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.910141 m, bearing: 38.847854 deg, approach rate: -0.124845 m/s, LOS rate: nan deg/s, cmd heading: 38.833973 deg, new cmd heading: 38.847854 deg. 2025-10-27T03:59:18.294Z,1761537558.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678023 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:18.394Z,1761537558.394 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:18.644Z,1761537558.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:18.689Z,1761537558.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797510,-0.588655,0.132147],[0.570000,0.806956,0.154665],[-0.197681,-0.048023,0.979089]] 2025-10-27T03:59:18.746Z,1761537558.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:18.749Z,1761537558.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.854469 m, bearing: 38.865788 deg, approach rate: -0.122233 m/s, LOS rate: nan deg/s, cmd heading: 38.847855 deg, new cmd heading: 38.865788 deg. 2025-10-27T03:59:18.750Z,1761537558.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678336 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:18.896Z,1761537558.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:19.062Z,1761537559.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799883,-0.587565,0.122288],[0.567348,0.806741,0.165182],[-0.195710,-0.062747,0.978652]] 2025-10-27T03:59:19.106Z,1761537559.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:19.109Z,1761537559.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.812866 m, bearing: 38.877952 deg, approach rate: -0.115680 m/s, LOS rate: nan deg/s, cmd heading: 38.865788 deg, new cmd heading: 38.877952 deg. 2025-10-27T03:59:19.109Z,1761537559.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678548 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:19.148Z,1761537559.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:19.401Z,1761537559.401 [DAT](INFO): DAT read: Rx Time:03:59:18.0477 2025-10-27T03:59:19.402Z,1761537559.402 [DAT](INFO): Rx dataTimestamp_ set to:1761537559.401436 2025-10-27T03:59:19.402Z,1761537559.402 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:19.469Z,1761537559.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802969,-0.585674,0.110574],[0.564027,0.806642,0.176642],[-0.192648,-0.079472,0.978044]] 2025-10-27T03:59:19.486Z,1761537559.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:19.488Z,1761537559.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:19.490Z,1761537559.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.768547 m, bearing: 38.891277 deg, approach rate: -0.116031 m/s, LOS rate: nan deg/s, cmd heading: 38.877952 deg, new cmd heading: 38.891277 deg. 2025-10-27T03:59:19.492Z,1761537559.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678781 target range: 87.952766 and range: 87.30 m. 2025-10-27T03:59:19.652Z,1761537559.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:19.922Z,1761537559.922 [DAT](INFO): DAT read: 03:59:18.0477 LVL= 32752, 32753, 30866, 32755, AGC= 71, IDX= 363,-0.10, 1.751,-0.056, 1.522, 1.139, PHS= 0.714,-1.151, 0.338, RAW= 139.0, 1.2, CAL= 139.1, 1.8, ROT= 10.9, -1.8 2025-10-27T03:59:19.927Z,1761537559.927 [DAT](INFO): got valid direction response: 03:59:18.0477 LVL= 32752, 32753, 30866, 32755, AGC= 71, IDX= 363,-0.10, 1.751,-0.056, 1.522, 1.139, PHS= 0.714,-1.151, 0.338, RAW= 139.0, 1.2, CAL= 139.1, 1.8, ROT= 10.9, -1.8 2025-10-27T03:59:19.928Z,1761537559.928 [DAT](INFO): DAT read: Bearing 207.8, -0.6 (Local) 2025-10-27T03:59:19.928Z,1761537559.928 [DAT](INFO): Local bearing/azimuth received: Bearing 207.8, -0.6 (Local) 2025-10-27T03:59:19.930Z,1761537559.930 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m (Round-trip 112.5 ms) speed 0.0 m/s 2025-10-27T03:59:19.934Z,1761537559.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806065,-0.582859,0.102640],[0.560899,0.807695,0.181717],[-0.188817,-0.088905,0.977980]] 2025-10-27T03:59:19.963Z,1761537559.963 [DAT](INFO): DAT read: user:24>Tx time:03:59:19.1311 2025-10-27T03:59:19.964Z,1761537559.964 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:59:19.965Z,1761537559.965 [DAT](INFO): direction in FSK: [0.981474,0.189002,0.031411] 2025-10-27T03:59:19.965Z,1761537559.965 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:19.976Z,1761537559.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:19.977Z,1761537559.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:20.048Z,1761537560.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 15.885594 s, deltaX: -3.000000 m, approachRate: -0.188850 m/s, rangeRepo size: 2 2025-10-27T03:59:20.048Z,1761537560.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:20.050Z,1761537560.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.698441 m, bearing: 38.906162 deg, approach rate: -0.126385 m/s, LOS rate: nan deg/s, cmd heading: 38.891278 deg, new cmd heading: 38.906162 deg. 2025-10-27T03:59:20.056Z,1761537560.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679041 target range: 87.952766 and range: 84.30 m. 2025-10-27T03:59:20.156Z,1761537560.156 [DAT](INFO): DAT read: 2025-10-27T03:59:20.156Z,1761537560.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:20.404Z,1761537560.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809025,-0.579327,0.099292],[0.558020,0.810099,0.179869],[-0.184639,-0.090111,0.978667]] 2025-10-27T03:59:20.408Z,1761537560.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:20.425Z,1761537560.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:20.444Z,1761537560.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.648582 m, bearing: 38.916920 deg, approach rate: -0.130252 m/s, LOS rate: nan deg/s, cmd heading: 38.906161 deg, new cmd heading: 38.916920 deg. 2025-10-27T03:59:20.445Z,1761537560.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679228 target range: 87.952766 and range: 84.30 m. 2025-10-27T03:59:20.662Z,1761537560.662 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:20.815Z,1761537560.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811789,-0.575523,0.098853],[0.555365,0.813223,0.173892],[-0.180468,-0.086264,0.979791]] 2025-10-27T03:59:20.851Z,1761537560.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:20.854Z,1761537560.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.572960 m, bearing: 38.928142 deg, approach rate: -0.177497 m/s, LOS rate: nan deg/s, cmd heading: 38.916919 deg, new cmd heading: 38.928142 deg. 2025-10-27T03:59:20.855Z,1761537560.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679424 target range: 87.952766 and range: 84.30 m. 2025-10-27T03:59:20.912Z,1761537560.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:21.164Z,1761537561.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:21.234Z,1761537561.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814831,-0.571502,0.097143],[0.552359,0.816278,0.169082],[-0.175926,-0.084116,0.980803]] 2025-10-27T03:59:21.252Z,1761537561.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:21.255Z,1761537561.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.501640 m, bearing: 38.938938 deg, approach rate: -0.177899 m/s, LOS rate: nan deg/s, cmd heading: 38.928141 deg, new cmd heading: 38.938938 deg. 2025-10-27T03:59:21.256Z,1761537561.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679613 target range: 87.952766 and range: 84.30 m. 2025-10-27T03:59:21.416Z,1761537561.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:21.634Z,1761537561.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817869,-0.567982,0.092125],[0.549267,0.818352,0.169135],[-0.171456,-0.087729,0.981278]] 2025-10-27T03:59:21.668Z,1761537561.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:21.668Z,1761537561.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:21.670Z,1761537561.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:21.683Z,1761537561.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.430527 m, bearing: 38.949981 deg, approach rate: -0.170152 m/s, LOS rate: nan deg/s, cmd heading: 38.938939 deg, new cmd heading: 38.949981 deg. 2025-10-27T03:59:21.684Z,1761537561.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679805 target range: 87.952766 and range: 84.30 m. 2025-10-27T03:59:21.920Z,1761537561.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:22.103Z,1761537562.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821316,-0.564043,0.085414],[0.545486,0.820316,0.171830],[-0.166986,-0.094534,0.981417]] 2025-10-27T03:59:22.151Z,1761537562.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:22.154Z,1761537562.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.319977 m, bearing: 38.964759 deg, approach rate: -0.230025 m/s, LOS rate: nan deg/s, cmd heading: 38.949980 deg, new cmd heading: 38.964759 deg. 2025-10-27T03:59:22.154Z,1761537562.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680063 target range: 87.952766 and range: 84.30 m. 2025-10-27T03:59:22.172Z,1761537562.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:22.424Z,1761537562.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:22.507Z,1761537562.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825206,-0.559226,0.079376],[0.540911,0.822881,0.174016],[-0.162631,-0.100663,0.981539]] 2025-10-27T03:59:22.525Z,1761537562.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:22.528Z,1761537562.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.236740 m, bearing: 38.976352 deg, approach rate: -0.222257 m/s, LOS rate: nan deg/s, cmd heading: 38.964757 deg, new cmd heading: 38.976352 deg. 2025-10-27T03:59:22.529Z,1761537562.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680266 target range: 87.952766 and range: 84.30 m. 2025-10-27T03:59:22.676Z,1761537562.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:22.912Z,1761537562.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829239,-0.554015,0.073687],[0.536016,0.825688,0.175860],[-0.158271,-0.106333,0.981653]] 2025-10-27T03:59:22.930Z,1761537562.930 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:22.996Z,1761537562.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:22.999Z,1761537562.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.116692 m, bearing: 38.992067 deg, approach rate: -0.254936 m/s, LOS rate: nan deg/s, cmd heading: 38.976352 deg, new cmd heading: 38.992067 deg. 2025-10-27T03:59:23.020Z,1761537563.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680540 target range: 87.952766 and range: 84.30 m. 2025-10-27T03:59:23.180Z,1761537563.180 [DAT](INFO): DAT read: Rx Time:03:59:21.6467 2025-10-27T03:59:23.180Z,1761537563.180 [DAT](INFO): Rx dataTimestamp_ set to:1761537563.180132 2025-10-27T03:59:23.181Z,1761537563.181 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:23.321Z,1761537563.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833370,-0.548450,0.068528],[0.530866,0.828766,0.176996],[-0.153867,-0.111124,0.981823]] 2025-10-27T03:59:23.340Z,1761537563.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:23.342Z,1761537563.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 79.025284 m, bearing: 39.004570 deg, approach rate: -0.266288 m/s, LOS rate: nan deg/s, cmd heading: 38.992068 deg, new cmd heading: 39.004570 deg. 2025-10-27T03:59:23.343Z,1761537563.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680758 target range: 87.952766 and range: 84.30 m. 2025-10-27T03:59:23.433Z,1761537563.433 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:23.691Z,1761537563.691 [DAT](INFO): DAT read: 03:59:21.6467 LVL= 31280, 32753, 32754, 32755, AGC= 75, IDX= 432, 0.31,-2.186, 2.622,-2.463,-2.433, PHS= 0.349,-1.184,-0.074, RAW= 134.5, 13.2, CAL= 133.8, 14.3, ROT= 16.2, -14.3 2025-10-27T03:59:23.693Z,1761537563.693 [DAT](INFO): got valid direction response: 03:59:21.6467 LVL= 31280, 32753, 32754, 32755, AGC= 75, IDX= 432, 0.31,-2.186, 2.622,-2.463,-2.433, PHS= 0.349,-1.184,-0.074, RAW= 134.5, 13.2, CAL= 133.8, 14.3, ROT= 16.2, -14.3 2025-10-27T03:59:23.694Z,1761537563.694 [DAT](INFO): DAT read: Bearing 218.4, 5.1 (Local) 2025-10-27T03:59:23.694Z,1761537563.694 [DAT](INFO): Local bearing/azimuth received: Bearing 218.4, 5.1 (Local) 2025-10-27T03:59:23.696Z,1761537563.696 [DAT](INFO): DAT read: Range 11 to 50 : 83.6 m (Round-trip 111.5 ms) speed 0.3 m/s 2025-10-27T03:59:23.698Z,1761537563.698 [DAT](INFO): DAT read: user:25>Tx time:03:59:22.7311 2025-10-27T03:59:23.699Z,1761537563.699 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:59:23.735Z,1761537563.735 [DAT](INFO): direction in FSK: [0.930540,0.270347,0.246999] 2025-10-27T03:59:23.736Z,1761537563.736 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:23.799Z,1761537563.799 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:23.800Z,1761537563.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:23.936Z,1761537563.936 [DAT](INFO): DAT read: 2025-10-27T03:59:23.936Z,1761537563.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:23.954Z,1761537563.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.599998 m, deltaT: 3.778518 s, deltaX: -0.700005 m, approachRate: -0.185259 m/s, rangeRepo size: 3 2025-10-27T03:59:23.955Z,1761537563.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:23.958Z,1761537563.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.850426 m, bearing: 39.029395 deg, approach rate: -0.284663 m/s, LOS rate: nan deg/s, cmd heading: 39.004570 deg, new cmd heading: 39.029395 deg. 2025-10-27T03:59:23.959Z,1761537563.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681191 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:24.188Z,1761537564.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:24.301Z,1761537564.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846470,-0.529622,0.054671],[0.514065,0.839683,0.175128],[-0.138659,-0.120136,0.983027]] 2025-10-27T03:59:24.317Z,1761537564.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:24.320Z,1761537564.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:24.322Z,1761537564.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.730911 m, bearing: 39.048457 deg, approach rate: -0.326560 m/s, LOS rate: nan deg/s, cmd heading: 39.029395 deg, new cmd heading: 39.048457 deg. 2025-10-27T03:59:24.323Z,1761537564.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681524 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:24.441Z,1761537564.441 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:24.692Z,1761537564.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:24.705Z,1761537564.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851193,-0.522546,0.049162],[0.507716,0.843520,0.175211],[-0.133025,-0.124178,0.983303]] 2025-10-27T03:59:24.747Z,1761537564.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:24.750Z,1761537564.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.603691 m, bearing: 39.069630 deg, approach rate: -0.297800 m/s, LOS rate: nan deg/s, cmd heading: 39.048458 deg, new cmd heading: 39.069630 deg. 2025-10-27T03:59:24.750Z,1761537564.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.681894 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:24.944Z,1761537564.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:25.103Z,1761537565.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856259,-0.514788,0.042581],[0.500630,0.847357,0.177074],[-0.127236,-0.130304,0.983276]] 2025-10-27T03:59:25.156Z,1761537565.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:25.159Z,1761537565.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.468941 m, bearing: 39.094905 deg, approach rate: -0.329259 m/s, LOS rate: nan deg/s, cmd heading: 39.069631 deg, new cmd heading: 39.094905 deg. 2025-10-27T03:59:25.164Z,1761537565.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682335 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:25.196Z,1761537565.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:25.448Z,1761537565.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:25.506Z,1761537565.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861511,-0.506485,0.035668],[0.493051,0.851297,0.179428],[-0.121242,-0.136993,0.983124]] 2025-10-27T03:59:25.523Z,1761537565.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:25.526Z,1761537565.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.338638 m, bearing: 39.120437 deg, approach rate: -0.354826 m/s, LOS rate: nan deg/s, cmd heading: 39.094907 deg, new cmd heading: 39.120437 deg. 2025-10-27T03:59:25.527Z,1761537565.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682780 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:25.700Z,1761537565.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:25.952Z,1761537565.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:25.991Z,1761537565.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:25.993Z,1761537565.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.178864 m, bearing: 39.150087 deg, approach rate: -0.341979 m/s, LOS rate: nan deg/s, cmd heading: 39.120438 deg, new cmd heading: 39.150087 deg. 2025-10-27T03:59:25.994Z,1761537565.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683298 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:26.204Z,1761537566.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:26.360Z,1761537566.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872122,-0.488899,0.019520],[0.477251,0.858784,0.186335],[-0.107862,-0.153191,0.982292]] 2025-10-27T03:59:26.413Z,1761537566.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:26.415Z,1761537566.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:26.425Z,1761537566.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 78.027069 m, bearing: 39.180781 deg, approach rate: -0.358032 m/s, LOS rate: nan deg/s, cmd heading: 39.150088 deg, new cmd heading: 39.180781 deg. 2025-10-27T03:59:26.426Z,1761537566.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683834 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:26.456Z,1761537566.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:26.708Z,1761537566.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:26.855Z,1761537566.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877696,-0.479077,0.011621],[0.468585,0.863048,0.188618],[-0.100392,-0.160104,0.981982]] 2025-10-27T03:59:26.913Z,1761537566.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:26.916Z,1761537566.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 77.829567 m, bearing: 39.220868 deg, approach rate: -0.396509 m/s, LOS rate: nan deg/s, cmd heading: 39.180783 deg, new cmd heading: 39.220868 deg. 2025-10-27T03:59:26.917Z,1761537566.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684533 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:26.960Z,1761537566.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:27.213Z,1761537567.213 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:27.468Z,1761537567.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:27.481Z,1761537567.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:27.483Z,1761537567.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 77.625267 m, bearing: 39.262558 deg, approach rate: -0.359646 m/s, LOS rate: nan deg/s, cmd heading: 39.220869 deg, new cmd heading: 39.262558 deg. 2025-10-27T03:59:27.484Z,1761537567.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685261 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:27.716Z,1761537567.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:27.855Z,1761537567.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888933,-0.458010,-0.004944],[0.450280,0.871849,0.192684],[-0.083940,-0.173509,0.981249]] 2025-10-27T03:59:27.917Z,1761537567.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:27.939Z,1761537567.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 77.441154 m, bearing: 39.303294 deg, approach rate: -0.422406 m/s, LOS rate: nan deg/s, cmd heading: 39.262557 deg, new cmd heading: 39.303294 deg. 2025-10-27T03:59:27.940Z,1761537567.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685972 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:27.970Z,1761537567.970 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:28.220Z,1761537568.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:28.406Z,1761537568.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900317,-0.434718,-0.021224],[0.430056,0.881043,0.197018],[-0.066948,-0.186506,0.980170]] 2025-10-27T03:59:28.430Z,1761537568.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:28.432Z,1761537568.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:28.435Z,1761537568.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 77.236923 m, bearing: 39.352602 deg, approach rate: -0.395983 m/s, LOS rate: nan deg/s, cmd heading: 39.303292 deg, new cmd heading: 39.352602 deg. 2025-10-27T03:59:28.436Z,1761537568.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.686832 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:28.472Z,1761537568.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:28.724Z,1761537568.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:28.810Z,1761537568.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906080,-0.422044,-0.029967],[0.419130,0.885620,0.200020],[-0.057878,-0.193794,0.979333]] 2025-10-27T03:59:28.899Z,1761537568.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:28.902Z,1761537568.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 77.071587 m, bearing: 39.394420 deg, approach rate: -0.353999 m/s, LOS rate: nan deg/s, cmd heading: 39.352603 deg, new cmd heading: 39.394420 deg. 2025-10-27T03:59:28.903Z,1761537568.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687562 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:28.977Z,1761537568.977 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:29.210Z,1761537569.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911793,-0.408882,-0.038077],[0.407719,0.890323,0.202708],[-0.048983,-0.200352,0.978499]] 2025-10-27T03:59:29.228Z,1761537569.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:29.257Z,1761537569.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:29.260Z,1761537569.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.901390 m, bearing: 39.436924 deg, approach rate: -0.476177 m/s, LOS rate: nan deg/s, cmd heading: 39.394421 deg, new cmd heading: 39.436924 deg. 2025-10-27T03:59:29.260Z,1761537569.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688304 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:29.480Z,1761537569.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:29.614Z,1761537569.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917308,-0.395514,-0.045994],[0.396159,0.894923,0.205355],[-0.040060,-0.206594,0.977606]] 2025-10-27T03:59:29.633Z,1761537569.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:29.636Z,1761537569.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.744209 m, bearing: 39.478028 deg, approach rate: -0.417792 m/s, LOS rate: nan deg/s, cmd heading: 39.436925 deg, new cmd heading: 39.478028 deg. 2025-10-27T03:59:29.637Z,1761537569.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689022 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:29.732Z,1761537569.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:29.984Z,1761537569.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:30.067Z,1761537570.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:30.070Z,1761537570.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.554764 m, bearing: 39.526287 deg, approach rate: -0.436606 m/s, LOS rate: nan deg/s, cmd heading: 39.478029 deg, new cmd heading: 39.526287 deg. 2025-10-27T03:59:30.070Z,1761537570.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.689864 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:30.236Z,1761537570.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:30.421Z,1761537570.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926129,-0.372489,-0.059479],[0.376515,0.903308,0.205600],[-0.022856,-0.212806,0.976827]] 2025-10-27T03:59:30.437Z,1761537570.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:30.440Z,1761537570.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:30.442Z,1761537570.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.393486 m, bearing: 39.570493 deg, approach rate: -0.432721 m/s, LOS rate: nan deg/s, cmd heading: 39.526288 deg, new cmd heading: 39.570493 deg. 2025-10-27T03:59:30.443Z,1761537570.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.690635 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:30.488Z,1761537570.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:30.740Z,1761537570.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:30.928Z,1761537570.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929291,-0.363436,-0.065825],[0.369052,0.906538,0.204912],[-0.014800,-0.214716,0.976565]] 2025-10-27T03:59:30.980Z,1761537570.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:30.982Z,1761537570.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 76.147507 m, bearing: 39.635609 deg, approach rate: -0.455313 m/s, LOS rate: nan deg/s, cmd heading: 39.570493 deg, new cmd heading: 39.635609 deg. 2025-10-27T03:59:30.987Z,1761537570.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691772 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:30.992Z,1761537570.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:31.244Z,1761537571.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:31.340Z,1761537571.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931750,-0.356082,-0.071045],[0.363032,0.909775,0.201289],[-0.007040,-0.213343,0.976952]] 2025-10-27T03:59:31.366Z,1761537571.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:31.388Z,1761537571.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.974945 m, bearing: 39.682516 deg, approach rate: -0.447471 m/s, LOS rate: nan deg/s, cmd heading: 39.635608 deg, new cmd heading: 39.682516 deg. 2025-10-27T03:59:31.388Z,1761537571.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692591 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:31.498Z,1761537571.498 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:31.742Z,1761537571.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933862,-0.349569,-0.075515],[0.357633,0.913096,0.195841],[0.000493,-0.209896,0.977724]] 2025-10-27T03:59:31.748Z,1761537571.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:31.811Z,1761537571.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:31.813Z,1761537571.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.770096 m, bearing: 39.739525 deg, approach rate: -0.460065 m/s, LOS rate: nan deg/s, cmd heading: 39.682518 deg, new cmd heading: 39.739525 deg. 2025-10-27T03:59:31.814Z,1761537571.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693586 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:32.000Z,1761537572.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:32.213Z,1761537572.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:32.216Z,1761537572.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.575844 m, bearing: 39.792169 deg, approach rate: -0.482645 m/s, LOS rate: nan deg/s, cmd heading: 39.739526 deg, new cmd heading: 39.792169 deg. 2025-10-27T03:59:32.217Z,1761537572.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.694504 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:32.252Z,1761537572.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:32.504Z,1761537572.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:32.558Z,1761537572.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935612,-0.343352,-0.082093],[0.352742,0.918608,0.178139],[0.014247,-0.195627,0.980575]] 2025-10-27T03:59:32.588Z,1761537572.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:32.590Z,1761537572.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:32.592Z,1761537572.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.395103 m, bearing: 39.842266 deg, approach rate: -0.480393 m/s, LOS rate: nan deg/s, cmd heading: 39.792170 deg, new cmd heading: 39.842266 deg. 2025-10-27T03:59:32.593Z,1761537572.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.695379 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:32.756Z,1761537572.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:32.963Z,1761537572.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934529,-0.346039,-0.083142],[0.355323,0.920380,0.163236],[0.020036,-0.182091,0.983078]] 2025-10-27T03:59:33.008Z,1761537573.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:33.033Z,1761537573.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:33.040Z,1761537573.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 75.175308 m, bearing: 39.900780 deg, approach rate: -0.495809 m/s, LOS rate: nan deg/s, cmd heading: 39.842266 deg, new cmd heading: 39.900780 deg. 2025-10-27T03:59:33.040Z,1761537573.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696400 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:33.260Z,1761537573.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:33.382Z,1761537573.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932056,-0.352620,-0.083247],[0.361414,0.921049,0.145079],[0.025517,-0.165309,0.985912]] 2025-10-27T03:59:33.401Z,1761537573.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:33.404Z,1761537573.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.984856 m, bearing: 39.950761 deg, approach rate: -0.516758 m/s, LOS rate: nan deg/s, cmd heading: 39.900780 deg, new cmd heading: 39.950761 deg. 2025-10-27T03:59:33.405Z,1761537573.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.697272 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:33.512Z,1761537573.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:33.764Z,1761537573.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:33.771Z,1761537573.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927982,-0.363858,-0.080356],[0.371394,0.920672,0.120126],[0.030272,-0.141318,0.989501]] 2025-10-27T03:59:33.806Z,1761537573.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:33.809Z,1761537573.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.787781 m, bearing: 40.001027 deg, approach rate: -0.486815 m/s, LOS rate: nan deg/s, cmd heading: 39.950760 deg, new cmd heading: 40.001027 deg. 2025-10-27T03:59:33.810Z,1761537573.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698150 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:34.017Z,1761537574.017 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:34.174Z,1761537574.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921962,-0.380034,-0.074568],[0.385752,0.918229,0.089726],[0.034371,-0.111489,0.993171]] 2025-10-27T03:59:34.229Z,1761537574.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:34.241Z,1761537574.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.560295 m, bearing: 40.055358 deg, approach rate: -0.562348 m/s, LOS rate: nan deg/s, cmd heading: 40.001027 deg, new cmd heading: 40.055358 deg. 2025-10-27T03:59:34.242Z,1761537574.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699098 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:34.272Z,1761537574.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:34.520Z,1761537574.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:34.588Z,1761537574.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913959,-0.400339,-0.066396],[0.404034,0.912981,0.056762],[0.037895,-0.078705,0.996177]] 2025-10-27T03:59:34.622Z,1761537574.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:34.628Z,1761537574.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:34.635Z,1761537574.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.340164 m, bearing: 40.104601 deg, approach rate: -0.527137 m/s, LOS rate: nan deg/s, cmd heading: 40.055358 deg, new cmd heading: 40.104601 deg. 2025-10-27T03:59:34.636Z,1761537574.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.699957 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:34.773Z,1761537574.773 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:34.994Z,1761537574.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903882,-0.424136,-0.055725],[0.425801,0.904551,0.021917],[0.041111,-0.043538,0.998205]] 2025-10-27T03:59:35.024Z,1761537575.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:35.047Z,1761537575.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:35.049Z,1761537575.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 74.099625 m, bearing: 40.157161 deg, approach rate: -0.574837 m/s, LOS rate: nan deg/s, cmd heading: 40.104600 deg, new cmd heading: 40.157161 deg. 2025-10-27T03:59:35.050Z,1761537575.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700875 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:35.276Z,1761537575.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:35.394Z,1761537575.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892363,-0.449210,-0.043563],[0.449172,0.893375,-0.011217],[0.043957,-0.009558,0.998988]] 2025-10-27T03:59:35.423Z,1761537575.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:35.426Z,1761537575.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 73.888374 m, bearing: 40.199012 deg, approach rate: -0.560881 m/s, LOS rate: nan deg/s, cmd heading: 40.157161 deg, new cmd heading: 40.199012 deg. 2025-10-27T03:59:35.427Z,1761537575.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.701605 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:35.532Z,1761537575.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:35.784Z,1761537575.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:35.799Z,1761537575.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880012,-0.473853,-0.032281],[0.472639,0.880401,-0.038816],[0.046814,0.018902,0.998725]] 2025-10-27T03:59:35.817Z,1761537575.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:35.836Z,1761537575.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 73.665573 m, bearing: 40.238531 deg, approach rate: -0.565951 m/s, LOS rate: nan deg/s, cmd heading: 40.199010 deg, new cmd heading: 40.238531 deg. 2025-10-27T03:59:35.837Z,1761537575.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702295 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:36.036Z,1761537576.036 [DAT](INFO): DAT read: Response Not Received 2025-10-27T03:59:36.036Z,1761537576.036 [DAT](INFO): response not received 2025-10-27T03:59:36.037Z,1761537576.037 [DAT](INFO): DAT read: user:26>Tx time:03:59:35.1811 2025-10-27T03:59:36.037Z,1761537576.037 [DAT](ERROR): No response from remote modem. 2025-10-27T03:59:36.038Z,1761537576.038 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:36.038Z,1761537576.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:36.278Z,1761537576.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867699,-0.496448,-0.025266],[0.494575,0.867298,-0.056473],[0.049949,0.036505,0.998084]] 2025-10-27T03:59:36.288Z,1761537576.288 [DAT](INFO): DAT read: 2025-10-27T03:59:36.288Z,1761537576.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:36.337Z,1761537576.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:36.346Z,1761537576.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 73.382683 m, bearing: 40.286679 deg, approach rate: -0.543839 m/s, LOS rate: nan deg/s, cmd heading: 40.238530 deg, new cmd heading: 40.286679 deg. 2025-10-27T03:59:36.353Z,1761537576.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703135 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:36.540Z,1761537576.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:36.748Z,1761537576.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843448,-0.536745,-0.022369],[0.534177,0.842376,-0.071119],[0.057016,0.048036,0.997217]] 2025-10-27T03:59:36.765Z,1761537576.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:36.767Z,1761537576.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:36.769Z,1761537576.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 73.126381 m, bearing: 40.320888 deg, approach rate: -0.596832 m/s, LOS rate: nan deg/s, cmd heading: 40.286679 deg, new cmd heading: 40.320888 deg. 2025-10-27T03:59:36.770Z,1761537576.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.703732 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:36.792Z,1761537576.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:37.048Z,1761537577.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:37.296Z,1761537577.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:37.329Z,1761537577.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:37.331Z,1761537577.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 72.802773 m, bearing: 40.369974 deg, approach rate: -0.575871 m/s, LOS rate: nan deg/s, cmd heading: 40.320888 deg, new cmd heading: 40.369974 deg. 2025-10-27T03:59:37.332Z,1761537577.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704589 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:37.548Z,1761537577.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:37.670Z,1761537577.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821735,-0.568974,-0.031931],[0.566292,0.821562,-0.065950],[0.063757,0.036111,0.997312]] 2025-10-27T03:59:37.724Z,1761537577.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:37.734Z,1761537577.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 72.590538 m, bearing: 40.395782 deg, approach rate: -0.537070 m/s, LOS rate: nan deg/s, cmd heading: 40.369973 deg, new cmd heading: 40.395782 deg. 2025-10-27T03:59:37.734Z,1761537577.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705039 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:37.800Z,1761537577.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:38.052Z,1761537578.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:38.077Z,1761537578.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811656,-0.582922,-0.037645],[0.580324,0.812033,-0.061861],[0.066629,0.028364,0.997375]] 2025-10-27T03:59:38.134Z,1761537578.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:38.137Z,1761537578.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 72.341766 m, bearing: 40.426552 deg, approach rate: -0.606191 m/s, LOS rate: nan deg/s, cmd heading: 40.395781 deg, new cmd heading: 40.426552 deg. 2025-10-27T03:59:38.138Z,1761537578.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705576 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:38.304Z,1761537578.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:38.478Z,1761537578.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802088,-0.595566,-0.044224],[0.593134,0.803065,-0.057263],[0.069618,0.019699,0.997379]] 2025-10-27T03:59:38.503Z,1761537578.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:38.506Z,1761537578.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 72.132301 m, bearing: 40.449953 deg, approach rate: -0.568025 m/s, LOS rate: nan deg/s, cmd heading: 40.426551 deg, new cmd heading: 40.449953 deg. 2025-10-27T03:59:38.506Z,1761537578.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705985 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:38.558Z,1761537578.558 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:38.808Z,1761537578.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:38.885Z,1761537578.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794148,-0.605418,-0.052889],[0.603412,0.795871,-0.049835],[0.072264,0.007662,0.997356]] 2025-10-27T03:59:38.902Z,1761537578.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:38.904Z,1761537578.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:38.906Z,1761537578.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.904778 m, bearing: 40.473204 deg, approach rate: -0.567613 m/s, LOS rate: nan deg/s, cmd heading: 40.449955 deg, new cmd heading: 40.473204 deg. 2025-10-27T03:59:38.923Z,1761537578.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706391 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:39.061Z,1761537579.061 [DAT](INFO): DAT read: Rx Time:03:59:37.6867 2025-10-27T03:59:39.061Z,1761537579.061 [DAT](INFO): Rx dataTimestamp_ set to:1761537579.060882 2025-10-27T03:59:39.062Z,1761537579.062 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:39.287Z,1761537579.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787433,-0.613271,-0.062033],[0.611816,0.789860,-0.042465],[0.075040,-0.004515,0.997170]] 2025-10-27T03:59:39.312Z,1761537579.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:39.325Z,1761537579.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:39.328Z,1761537579.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.670448 m, bearing: 40.498703 deg, approach rate: -0.555845 m/s, LOS rate: nan deg/s, cmd heading: 40.473205 deg, new cmd heading: 40.498703 deg. 2025-10-27T03:59:39.329Z,1761537579.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706836 target range: 87.952766 and range: 83.60 m. 2025-10-27T03:59:39.570Z,1761537579.570 [DAT](INFO): DAT read: 03:59:37.6867 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 300,-0.28,-2.478, 1.864,-2.535,-2.674, PHS= 0.298,-1.700, 0.094, RAW= 144.7, 13.6, CAL= 144.3, 14.9, ROT= 5.7, -14.9 2025-10-27T03:59:39.571Z,1761537579.571 [DAT](INFO): got valid direction response: 03:59:37.6867 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 300,-0.28,-2.478, 1.864,-2.535,-2.674, PHS= 0.298,-1.700, 0.094, RAW= 144.7, 13.6, CAL= 144.3, 14.9, ROT= 5.7, -14.9 2025-10-27T03:59:39.572Z,1761537579.572 [DAT](INFO): DAT read: Bearing 222.8, 9.3 (Local) 2025-10-27T03:59:39.572Z,1761537579.572 [DAT](INFO): Local bearing/azimuth received: Bearing 222.8, 9.3 (Local) 2025-10-27T03:59:39.573Z,1761537579.573 [DAT](INFO): DAT read: Range 11 to 50 : 76.0 m (Round-trip 101.4 ms) speed 0.5 m/s 2025-10-27T03:59:39.574Z,1761537579.574 [DAT](INFO): DAT read: user:27>Tx time:03:59:38.7811 2025-10-27T03:59:39.575Z,1761537579.575 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:59:39.576Z,1761537579.576 [DAT](INFO): direction in FSK: [0.961598,0.095980,0.257133] 2025-10-27T03:59:39.576Z,1761537579.576 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:39.580Z,1761537579.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:39.580Z,1761537579.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:39.691Z,1761537579.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781445,-0.619910,-0.071102],[0.619124,0.784501,-0.035268],[0.077642,-0.016460,0.996845]] 2025-10-27T03:59:39.745Z,1761537579.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 15.880128 s, deltaX: -7.599998 m, approachRate: -0.478585 m/s, rangeRepo size: 4 2025-10-27T03:59:39.745Z,1761537579.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:39.752Z,1761537579.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.449387 m, bearing: 40.521235 deg, approach rate: -0.528228 m/s, LOS rate: nan deg/s, cmd heading: 40.498705 deg, new cmd heading: 40.521235 deg. 2025-10-27T03:59:39.753Z,1761537579.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707229 target range: 87.952766 and range: 76.00 m. 2025-10-27T03:59:39.816Z,1761537579.816 [DAT](INFO): DAT read: 2025-10-27T03:59:39.816Z,1761537579.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:40.068Z,1761537580.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:40.093Z,1761537580.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776531,-0.625066,-0.079328],[0.624956,0.780111,-0.029281],[0.080187,-0.026839,0.996418]] 2025-10-27T03:59:40.146Z,1761537580.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:40.149Z,1761537580.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.216393 m, bearing: 40.544750 deg, approach rate: -0.578844 m/s, LOS rate: nan deg/s, cmd heading: 40.521234 deg, new cmd heading: 40.544750 deg. 2025-10-27T03:59:40.150Z,1761537580.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707639 target range: 87.952766 and range: 76.00 m. 2025-10-27T03:59:40.320Z,1761537580.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:40.498Z,1761537580.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772829,-0.628495,-0.087919],[0.629205,0.776902,-0.022875],[0.082681,-0.037640,0.995865]] 2025-10-27T03:59:40.515Z,1761537580.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:40.518Z,1761537580.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 71.013176 m, bearing: 40.564419 deg, approach rate: -0.550788 m/s, LOS rate: nan deg/s, cmd heading: 40.544751 deg, new cmd heading: 40.564419 deg. 2025-10-27T03:59:40.519Z,1761537580.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707983 target range: 87.952766 and range: 76.00 m. 2025-10-27T03:59:40.572Z,1761537580.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:40.824Z,1761537580.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:40.902Z,1761537580.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769968,-0.630496,-0.098100],[0.632348,0.774542,-0.014863],[0.085354,-0.050589,0.995066]] 2025-10-27T03:59:40.928Z,1761537580.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:40.930Z,1761537580.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:40.933Z,1761537580.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 70.785080 m, bearing: 40.585797 deg, approach rate: -0.549850 m/s, LOS rate: nan deg/s, cmd heading: 40.564418 deg, new cmd heading: 40.585797 deg. 2025-10-27T03:59:40.934Z,1761537580.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708356 target range: 87.952766 and range: 76.00 m. 2025-10-27T03:59:41.076Z,1761537581.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:41.305Z,1761537581.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767691,-0.631383,-0.109575],[0.634719,0.772723,-0.005621],[0.088220,-0.065234,0.993963]] 2025-10-27T03:59:41.328Z,1761537581.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:41.387Z,1761537581.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:41.390Z,1761537581.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 70.540405 m, bearing: 40.599679 deg, approach rate: -0.555290 m/s, LOS rate: nan deg/s, cmd heading: 40.585797 deg, new cmd heading: 40.599679 deg. 2025-10-27T03:59:41.390Z,1761537581.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708598 target range: 87.952766 and range: 76.00 m. 2025-10-27T03:59:41.580Z,1761537581.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:41.740Z,1761537581.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765720,-0.631683,-0.121034],[0.636683,0.771118,0.003457],[0.091148,-0.079707,0.992642]] 2025-10-27T03:59:41.767Z,1761537581.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:41.769Z,1761537581.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 70.315430 m, bearing: 40.611897 deg, approach rate: -0.568040 m/s, LOS rate: nan deg/s, cmd heading: 40.599679 deg, new cmd heading: 40.611897 deg. 2025-10-27T03:59:41.770Z,1761537581.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708811 target range: 87.952766 and range: 76.00 m. 2025-10-27T03:59:41.832Z,1761537581.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:42.084Z,1761537582.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:42.141Z,1761537582.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764220,-0.631033,-0.133288],[0.638069,0.769859,0.013640],[0.094005,-0.095471,0.990983]] 2025-10-27T03:59:42.190Z,1761537582.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:42.192Z,1761537582.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 70.070114 m, bearing: 40.618044 deg, approach rate: -0.580351 m/s, LOS rate: nan deg/s, cmd heading: 40.611898 deg, new cmd heading: 40.618044 deg. 2025-10-27T03:59:42.193Z,1761537582.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708919 target range: 87.952766 and range: 76.00 m. 2025-10-27T03:59:42.337Z,1761537582.337 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:42.588Z,1761537582.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:42.654Z,1761537582.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762705,-0.630371,-0.144613],[0.639428,0.768525,0.022401],[0.097018,-0.109555,0.989235]] 2025-10-27T03:59:42.672Z,1761537582.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:42.675Z,1761537582.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 69.790070 m, bearing: 40.624480 deg, approach rate: -0.580263 m/s, LOS rate: nan deg/s, cmd heading: 40.618046 deg, new cmd heading: 40.624480 deg. 2025-10-27T03:59:42.676Z,1761537582.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709031 target range: 87.952766 and range: 76.00 m. 2025-10-27T03:59:42.842Z,1761537582.842 [DAT](INFO): DAT read: Rx Time:03:59:41.2838 2025-10-27T03:59:42.842Z,1761537582.842 [DAT](INFO): Rx dataTimestamp_ set to:1761537582.842023 2025-10-27T03:59:42.845Z,1761537582.845 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:43.094Z,1761537583.094 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:43.224Z,1761537583.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:43.226Z,1761537583.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T03:59:43.229Z,1761537583.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 87.952766 m, nav range: 69.473206 m, bearing: 40.623995 deg, approach rate: -0.571940 m/s, LOS rate: nan deg/s, cmd heading: 40.624480 deg, new cmd heading: 40.623995 deg. 2025-10-27T03:59:43.230Z,1761537583.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709022 target range: 87.952766 and range: 76.00 m. 2025-10-27T03:59:43.355Z,1761537583.355 [DAT](INFO): DAT read: 03:59:41.2838 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 415,-0.18,-0.446,-2.266,-0.306,-0.582, PHS= 0.238,-1.640, 0.232, RAW= 149.8, 12.4, CAL= 149.8, 13.7, ROT= 0.2, -13.7 2025-10-27T03:59:43.357Z,1761537583.357 [DAT](INFO): got valid direction response: 03:59:41.2838 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 415,-0.18,-0.446,-2.266,-0.306,-0.582, PHS= 0.238,-1.640, 0.232, RAW= 149.8, 12.4, CAL= 149.8, 13.7, ROT= 0.2, -13.7 2025-10-27T03:59:43.358Z,1761537583.358 [DAT](INFO): DAT read: Bearing 223.7, 4.0 (Local) 2025-10-27T03:59:43.371Z,1761537583.371 [DAT](INFO): Local bearing/azimuth received: Bearing 223.7, 4.0 (Local) 2025-10-27T03:59:43.372Z,1761537583.372 [DAT](INFO): DAT read: Range 11 to 50 : 73.9 m (Round-trip 98.6 ms) speed 0.7 m/s 2025-10-27T03:59:43.373Z,1761537583.373 [DAT](INFO): DAT read: user:28>Tx time:03:59:42.3811 2025-10-27T03:59:43.374Z,1761537583.374 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:59:43.392Z,1761537583.392 [DAT](INFO): direction in FSK: [0.971543,0.003391,0.236838] 2025-10-27T03:59:43.392Z,1761537583.392 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:43.396Z,1761537583.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:43.396Z,1761537583.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:43.596Z,1761537583.596 [DAT](INFO): DAT read: 2025-10-27T03:59:43.596Z,1761537583.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:43.633Z,1761537583.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757943,-0.630751,-0.166358],[0.643796,0.764398,0.034959],[0.105114,-0.133598,0.985445]] 2025-10-27T03:59:43.683Z,1761537583.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.900002 m, deltaT: 3.780665 s, deltaX: -2.099998 m, approachRate: -0.555457 m/s, rangeRepo size: 4 2025-10-27T03:59:43.685Z,1761537583.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.607010 m, bearing: 42.484214 deg, lat: 36.779323 deg, lon: -121.859490 deg, deltaT: 42.856728 s, deltaX: -14.345757 m, approachRate: -0.334738 m/s, posRepo size: 2 2025-10-27T03:59:43.686Z,1761537583.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.61 m. 2025-10-27T03:59:43.692Z,1761537583.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 42.484214 deg. 2025-10-27T03:59:43.693Z,1761537583.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741489 target range: 73.607010 and range: 73.90 m. 2025-10-27T03:59:43.849Z,1761537583.849 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:44.062Z,1761537584.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756171,-0.632111,-0.169239],[0.645540,0.762937,0.034728],[0.107166,-0.135511,0.984963]] 2025-10-27T03:59:44.100Z,1761537584.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:44.143Z,1761537584.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.61 m. 2025-10-27T03:59:44.145Z,1761537584.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.607010 m, nav range: 71.855453 m, bearing: 47.024485 deg, approach rate: -0.630953 m/s, LOS rate: 0.055148 deg/s, cmd heading: 42.484214 deg, new cmd heading: 42.561654 deg. 2025-10-27T03:59:44.146Z,1761537584.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742841 target range: 73.607010 and range: 73.90 m. 2025-10-27T03:59:44.353Z,1761537584.353 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:44.426Z,1761537584.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754288,-0.633890,-0.170975],[0.647400,0.761431,0.033120],[0.109191,-0.135671,0.984719]] 2025-10-27T03:59:44.471Z,1761537584.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.61 m. 2025-10-27T03:59:44.473Z,1761537584.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.607010 m, nav range: 71.665565 m, bearing: 47.040718 deg, approach rate: -0.578720 m/s, LOS rate: 0.049605 deg/s, cmd heading: 42.561654 deg, new cmd heading: 42.610483 deg. 2025-10-27T03:59:44.474Z,1761537584.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743693 target range: 73.607010 and range: 73.90 m. 2025-10-27T03:59:44.604Z,1761537584.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:44.838Z,1761537584.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752727,-0.635060,-0.173497],[0.648905,0.760160,0.032863],[0.111015,-0.137320,0.984286]] 2025-10-27T03:59:44.857Z,1761537584.857 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:44.886Z,1761537584.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.61 m. 2025-10-27T03:59:44.889Z,1761537584.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.607010 m, nav range: 71.413483 m, bearing: 47.061949 deg, approach rate: -0.606515 m/s, LOS rate: 0.051263 deg/s, cmd heading: 42.610483 deg, new cmd heading: 42.674402 deg. 2025-10-27T03:59:44.890Z,1761537584.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744809 target range: 73.607010 and range: 73.90 m. 2025-10-27T03:59:45.110Z,1761537585.110 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:45.234Z,1761537585.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750721,-0.636863,-0.175568],[0.650964,0.758417,0.032380],[0.112532,-0.138597,0.983935]] 2025-10-27T03:59:45.278Z,1761537585.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:45.280Z,1761537585.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.61 m. 2025-10-27T03:59:45.283Z,1761537585.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.607010 m, nav range: 71.151703 m, bearing: 47.082267 deg, approach rate: -0.664544 m/s, LOS rate: 0.051768 deg/s, cmd heading: 42.674404 deg, new cmd heading: 42.735582 deg. 2025-10-27T03:59:45.284Z,1761537585.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745877 target range: 73.607010 and range: 73.90 m. 2025-10-27T03:59:45.361Z,1761537585.361 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:45.612Z,1761537585.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:45.638Z,1761537585.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748750,-0.638822,-0.176861],[0.652968,0.756751,0.030987],[0.114045,-0.138686,0.983748]] 2025-10-27T03:59:45.679Z,1761537585.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.61 m. 2025-10-27T03:59:45.682Z,1761537585.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.607010 m, nav range: 70.913986 m, bearing: 47.100300 deg, approach rate: -0.597548 m/s, LOS rate: 0.045481 deg/s, cmd heading: 42.735582 deg, new cmd heading: 42.789861 deg. 2025-10-27T03:59:45.683Z,1761537585.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746824 target range: 73.607010 and range: 73.90 m. 2025-10-27T03:59:45.864Z,1761537585.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:46.011Z,1761537586.011 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:59:46.084Z,1761537586.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746715,-0.641077,-0.177308],[0.655005,0.755091,0.028373],[0.115694,-0.137324,0.983746]] 2025-10-27T03:59:46.118Z,1761537586.118 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:46.166Z,1761537586.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.61 m. 2025-10-27T03:59:46.169Z,1761537586.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.607010 m, nav range: 70.592171 m, bearing: 47.127922 deg, approach rate: -0.659334 m/s, LOS rate: 0.056850 deg/s, cmd heading: 42.789861 deg, new cmd heading: 42.873106 deg. 2025-10-27T03:59:46.170Z,1761537586.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748277 target range: 73.607010 and range: 73.90 m. 2025-10-27T03:59:46.368Z,1761537586.368 [DAT](INFO): DAT read: Rx Time:03:59:44.8809 2025-10-27T03:59:46.368Z,1761537586.368 [DAT](INFO): Rx dataTimestamp_ set to:1761537586.368124 2025-10-27T03:59:46.369Z,1761537586.369 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:46.500Z,1761537586.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744330,-0.643782,-0.177531],[0.657436,0.753078,0.025529],[0.117260,-0.135717,0.983784]] 2025-10-27T03:59:46.523Z,1761537586.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.61 m. 2025-10-27T03:59:46.526Z,1761537586.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.607010 m, nav range: 70.366890 m, bearing: 47.146778 deg, approach rate: -0.631150 m/s, LOS rate: 0.052996 deg/s, cmd heading: 42.873104 deg, new cmd heading: 42.929853 deg. 2025-10-27T03:59:46.527Z,1761537586.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749267 target range: 73.607010 and range: 73.90 m. 2025-10-27T03:59:46.625Z,1761537586.625 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:46.882Z,1761537586.882 [DAT](INFO): DAT read: 03:59:44.8809 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.34,-1.110,-2.915,-0.944,-1.271, PHS= 0.264,-1.599, 0.283, RAW= 150.5, 11.2, CAL= 150.4, 12.3, ROT= 359.6, -12.3 2025-10-27T03:59:46.883Z,1761537586.883 [DAT](INFO): got valid direction response: 03:59:44.8809 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.34,-1.110,-2.915,-0.944,-1.271, PHS= 0.264,-1.599, 0.283, RAW= 150.5, 11.2, CAL= 150.4, 12.3, ROT= 359.6, -12.3 2025-10-27T03:59:46.884Z,1761537586.884 [DAT](INFO): DAT read: Bearing 223.5, 4.3 (Local) 2025-10-27T03:59:46.884Z,1761537586.884 [DAT](INFO): Local bearing/azimuth received: Bearing 223.5, 4.3 (Local) 2025-10-27T03:59:46.886Z,1761537586.886 [DAT](INFO): DAT read: Range 11 to 50 : 71.7 m (Round-trip 95.7 ms) speed 0.8 m/s 2025-10-27T03:59:46.887Z,1761537586.887 [DAT](INFO): DAT read: user:29>Tx time:03:59:45.9811 2025-10-27T03:59:46.887Z,1761537586.887 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:59:46.888Z,1761537586.888 [DAT](INFO): direction in FSK: [0.977022,-0.006821,0.213030] 2025-10-27T03:59:46.888Z,1761537586.888 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:46.900Z,1761537586.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:46.901Z,1761537586.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:46.909Z,1761537586.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741918,-0.646368,-0.178232],[0.659877,0.751014,0.023249],[0.118827,-0.134860,0.983714]] 2025-10-27T03:59:46.972Z,1761537586.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.531271 s, deltaX: -2.200005 m, approachRate: -0.623006 m/s, rangeRepo size: 4 2025-10-27T03:59:46.974Z,1761537586.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.415283 m, bearing: 42.994999 deg, lat: 36.779323 deg, lon: -121.859536 deg, deltaT: 3.531271 s, deltaX: -2.191727 m, approachRate: -0.620662 m/s, posRepo size: 3 2025-10-27T03:59:46.987Z,1761537586.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:59:46.990Z,1761537586.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.415283 m, nav range: 67.193481 m, bearing: 44.816831 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 42.929853 deg, new cmd heading: 43.001150 deg. 2025-10-27T03:59:46.990Z,1761537586.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750512 target range: 71.415283 and range: 71.70 m. 2025-10-27T03:59:47.015Z,1761537587.015 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:59:47.130Z,1761537587.130 [DAT](INFO): DAT read: 2025-10-27T03:59:47.132Z,1761537587.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:47.380Z,1761537587.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:47.476Z,1761537587.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739561,-0.649117,-0.178033],[0.662238,0.749027,0.019991],[0.120375,-0.132684,0.983822]] 2025-10-27T03:59:47.490Z,1761537587.490 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 204.41, 239.16, 208.50 2025-10-27T03:59:47.524Z,1761537587.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:47.526Z,1761537587.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:59:47.528Z,1761537587.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.415283 m, nav range: 66.813766 m, bearing: 44.834864 deg, approach rate: -0.685291 m/s, LOS rate: 0.032730 deg/s, cmd heading: 43.001150 deg, new cmd heading: 43.055556 deg. 2025-10-27T03:59:47.529Z,1761537587.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751461 target range: 71.415283 and range: 71.70 m. 2025-10-27T03:59:47.632Z,1761537587.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:47.884Z,1761537587.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:47.937Z,1761537587.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:59:47.941Z,1761537587.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.415283 m, nav range: 66.560608 m, bearing: 44.847002 deg, approach rate: -0.614871 m/s, LOS rate: 0.029592 deg/s, cmd heading: 43.055556 deg, new cmd heading: 43.092107 deg. 2025-10-27T03:59:47.942Z,1761537587.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752099 target range: 71.415283 and range: 71.70 m. 2025-10-27T03:59:48.138Z,1761537588.138 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:48.388Z,1761537588.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:48.406Z,1761537588.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734021,-0.655205,-0.178659],[0.667734,0.744271,0.013883],[0.123875,-0.129487,0.983813]] 2025-10-27T03:59:48.464Z,1761537588.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:59:48.466Z,1761537588.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.415283 m, nav range: 66.230072 m, bearing: 44.861170 deg, approach rate: -0.653506 m/s, LOS rate: 0.028153 deg/s, cmd heading: 43.092107 deg, new cmd heading: 43.134825 deg. 2025-10-27T03:59:48.475Z,1761537588.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752845 target range: 71.415283 and range: 71.70 m. 2025-10-27T03:59:48.640Z,1761537588.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:48.841Z,1761537588.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732517,-0.656977,-0.178324],[0.669349,0.742838,0.012796],[0.124059,-0.128734,0.983889]] 2025-10-27T03:59:48.866Z,1761537588.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:59:48.869Z,1761537588.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.415283 m, nav range: 65.961006 m, bearing: 44.872292 deg, approach rate: -0.635709 m/s, LOS rate: 0.026384 deg/s, cmd heading: 43.134827 deg, new cmd heading: 43.168328 deg. 2025-10-27T03:59:48.870Z,1761537588.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753429 target range: 71.415283 and range: 71.70 m. 2025-10-27T03:59:48.892Z,1761537588.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:49.146Z,1761537589.146 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:49.229Z,1761537589.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731053,-0.658655,-0.178143],[0.670931,0.741422,0.012042],[0.124148,-0.128325,0.983931]] 2025-10-27T03:59:49.278Z,1761537589.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:59:49.281Z,1761537589.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.415283 m, nav range: 65.695740 m, bearing: 44.886895 deg, approach rate: -0.644478 m/s, LOS rate: 0.035622 deg/s, cmd heading: 43.168329 deg, new cmd heading: 43.212315 deg. 2025-10-27T03:59:49.282Z,1761537589.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754197 target range: 71.415283 and range: 71.70 m. 2025-10-27T03:59:49.396Z,1761537589.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:49.636Z,1761537589.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729788,-0.660030,-0.178240],[0.672287,0.740199,0.011634],[0.124255,-0.128319,0.983918]] 2025-10-27T03:59:49.648Z,1761537589.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:49.675Z,1761537589.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:49.677Z,1761537589.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:59:49.693Z,1761537589.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.415283 m, nav range: 65.450439 m, bearing: 44.900101 deg, approach rate: -0.614038 m/s, LOS rate: 0.033182 deg/s, cmd heading: 43.212315 deg, new cmd heading: 43.252083 deg. 2025-10-27T03:59:49.699Z,1761537589.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754891 target range: 71.415283 and range: 71.70 m. 2025-10-27T03:59:49.901Z,1761537589.901 [DAT](INFO): DAT read: Rx Time:03:59:48.4780 2025-10-27T03:59:49.901Z,1761537589.901 [DAT](INFO): Rx dataTimestamp_ set to:1761537589.900723 2025-10-27T03:59:49.901Z,1761537589.901 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:50.154Z,1761537590.154 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:50.211Z,1761537590.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728819,-0.661057,-0.178401],[0.673339,0.739244,0.011546],[0.124249,-0.128539,0.983890]] 2025-10-27T03:59:50.262Z,1761537590.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:59:50.265Z,1761537590.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.415283 m, nav range: 65.066010 m, bearing: 44.917490 deg, approach rate: -0.658005 m/s, LOS rate: 0.029939 deg/s, cmd heading: 43.252084 deg, new cmd heading: 43.304558 deg. 2025-10-27T03:59:50.266Z,1761537590.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755807 target range: 71.415283 and range: 71.70 m. 2025-10-27T03:59:50.410Z,1761537590.410 [DAT](INFO): DAT read: 03:59:48.4780 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.24, 1.188,-0.545, 1.414, 1.163, PHS= 0.127,-1.664, 0.207, RAW= 152.2, 14.4, CAL= 152.5, 16.2, ROT= 357.5, -16.2 2025-10-27T03:59:50.411Z,1761537590.411 [DAT](INFO): got valid direction response: 03:59:48.4780 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.24, 1.188,-0.545, 1.414, 1.163, PHS= 0.127,-1.664, 0.207, RAW= 152.2, 14.4, CAL= 152.5, 16.2, ROT= 357.5, -16.2 2025-10-27T03:59:50.412Z,1761537590.412 [DAT](INFO): DAT read: Bearing 227.9, 2.4 (Local) 2025-10-27T03:59:50.412Z,1761537590.412 [DAT](INFO): Local bearing/azimuth received: Bearing 227.9, 2.4 (Local) 2025-10-27T03:59:50.413Z,1761537590.413 [DAT](INFO): DAT read: Range 11 to 50 : 69.5 m (Round-trip 92.7 ms) speed 0.5 m/s 2025-10-27T03:59:50.414Z,1761537590.414 [DAT](INFO): DAT read: user:30>Tx time:03:59:49.5811 2025-10-27T03:59:50.417Z,1761537590.417 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:59:50.422Z,1761537590.422 [DAT](INFO): direction in FSK: [0.959380,-0.041887,0.278991] 2025-10-27T03:59:50.423Z,1761537590.423 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:50.426Z,1761537590.426 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:50.427Z,1761537590.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:50.656Z,1761537590.656 [DAT](INFO): DAT read: 2025-10-27T03:59:50.657Z,1761537590.657 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:50.748Z,1761537590.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727040,-0.662766,-0.179319],[0.675293,0.737447,0.012325],[0.124070,-0.130054,0.983714]] 2025-10-27T03:59:50.772Z,1761537590.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.500000 m, deltaT: 3.528003 s, deltaX: -2.199997 m, approachRate: -0.623581 m/s, rangeRepo size: 4 2025-10-27T03:59:50.774Z,1761537590.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.223122 m, bearing: 42.576808 deg, lat: 36.779331 deg, lon: -121.859551 deg, deltaT: 3.528003 s, deltaX: -2.192162 m, approachRate: -0.621360 m/s, posRepo size: 4 2025-10-27T03:59:50.774Z,1761537590.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m. 2025-10-27T03:59:50.777Z,1761537590.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.223122 m, nav range: 64.466263 m, bearing: 43.525598 deg, approach rate: 0.000000 m/s, LOS rate: 0.029939 deg/s, cmd heading: 43.304557 deg, new cmd heading: 43.350282 deg. 2025-10-27T03:59:50.778Z,1761537590.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756605 target range: 69.223122 and range: 69.50 m. 2025-10-27T03:59:50.908Z,1761537590.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:51.163Z,1761537591.163 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:51.230Z,1761537591.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726105,-0.663531,-0.180274],[0.676393,0.736411,0.013873],[0.123551,-0.132009,0.983519]] 2025-10-27T03:59:51.266Z,1761537591.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m. 2025-10-27T03:59:51.269Z,1761537591.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.223122 m, nav range: 64.146957 m, bearing: 43.529949 deg, approach rate: -0.644826 m/s, LOS rate: 0.008831 deg/s, cmd heading: 43.350282 deg, new cmd heading: 43.363400 deg. 2025-10-27T03:59:51.270Z,1761537591.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756834 target range: 69.223122 and range: 69.50 m. 2025-10-27T03:59:51.412Z,1761537591.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:51.645Z,1761537591.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725348,-0.664169,-0.180968],[0.677313,0.735536,0.015297],[0.122948,-0.133668,0.983370]] 2025-10-27T03:59:51.664Z,1761537591.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:51.740Z,1761537591.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:51.742Z,1761537591.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m. 2025-10-27T03:59:51.745Z,1761537591.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.223122 m, nav range: 63.842754 m, bearing: 43.533794 deg, approach rate: -0.639308 m/s, LOS rate: 0.008119 deg/s, cmd heading: 43.363399 deg, new cmd heading: 43.374990 deg. 2025-10-27T03:59:51.745Z,1761537591.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757036 target range: 69.223122 and range: 69.50 m. 2025-10-27T03:59:51.916Z,1761537591.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:52.170Z,1761537592.170 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:52.222Z,1761537592.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724847,-0.664397,-0.182138],[0.678048,0.734796,0.018035],[0.121852,-0.136571,0.983108]] 2025-10-27T03:59:52.266Z,1761537592.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m. 2025-10-27T03:59:52.268Z,1761537592.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.223122 m, nav range: 63.506496 m, bearing: 43.537762 deg, approach rate: -0.641830 m/s, LOS rate: 0.007614 deg/s, cmd heading: 43.374990 deg, new cmd heading: 43.386957 deg. 2025-10-27T03:59:52.269Z,1761537592.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757245 target range: 69.223122 and range: 69.50 m. 2025-10-27T03:59:52.420Z,1761537592.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:52.590Z,1761537592.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724470,-0.664469,-0.183369],[0.678617,0.734203,0.020626],[0.120924,-0.139381,0.982828]] 2025-10-27T03:59:52.609Z,1761537592.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m. 2025-10-27T03:59:52.611Z,1761537592.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.223122 m, nav range: 63.286297 m, bearing: 43.540244 deg, approach rate: -0.642047 m/s, LOS rate: 0.007262 deg/s, cmd heading: 43.386956 deg, new cmd heading: 43.394428 deg. 2025-10-27T03:59:52.612Z,1761537592.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757376 target range: 69.223122 and range: 69.50 m. 2025-10-27T03:59:52.672Z,1761537592.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:52.924Z,1761537592.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:52.994Z,1761537592.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723863,-0.665184,-0.183174],[0.679297,0.733577,0.020499],[0.120736,-0.139268,0.982867]] 2025-10-27T03:59:53.013Z,1761537593.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m. 2025-10-27T03:59:53.015Z,1761537593.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.223122 m, nav range: 63.027084 m, bearing: 43.542972 deg, approach rate: -0.641785 m/s, LOS rate: 0.006781 deg/s, cmd heading: 43.394429 deg, new cmd heading: 43.402645 deg. 2025-10-27T03:59:53.016Z,1761537593.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757519 target range: 69.223122 and range: 69.50 m. 2025-10-27T03:59:53.178Z,1761537593.178 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:53.395Z,1761537593.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723547,-0.665353,-0.183808],[0.679749,0.733113,0.022041],[0.120087,-0.140891,0.982715]] 2025-10-27T03:59:53.428Z,1761537593.428 [DAT](INFO): DAT read: Rx Time:03:59:52.0748 2025-10-27T03:59:53.429Z,1761537593.429 [DAT](INFO): Rx dataTimestamp_ set to:1761537593.428208 2025-10-27T03:59:53.429Z,1761537593.429 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:53.441Z,1761537593.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m. 2025-10-27T03:59:53.444Z,1761537593.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.223122 m, nav range: 62.751053 m, bearing: 43.552778 deg, approach rate: -0.644261 m/s, LOS rate: 0.022989 deg/s, cmd heading: 43.402645 deg, new cmd heading: 43.432194 deg. 2025-10-27T03:59:53.445Z,1761537593.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758035 target range: 69.223122 and range: 69.50 m. 2025-10-27T03:59:53.680Z,1761537593.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:59:53.797Z,1761537593.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723447,-0.665132,-0.184996],[0.679991,0.732813,0.024437],[0.119313,-0.143474,0.982436]] 2025-10-27T03:59:53.819Z,1761537593.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:53.823Z,1761537593.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.22 m. 2025-10-27T03:59:53.829Z,1761537593.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.223122 m, nav range: 62.508762 m, bearing: 43.561396 deg, approach rate: -0.634476 m/s, LOS rate: 0.022655 deg/s, cmd heading: 43.432193 deg, new cmd heading: 43.458147 deg. 2025-10-27T03:59:53.830Z,1761537593.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758488 target range: 69.223122 and range: 69.50 m. 2025-10-27T03:59:53.945Z,1761537593.945 [DAT](INFO): DAT read: 03:59:52.0748 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 401, 0.27, 1.822, 0.066, 2.044, 1.748, PHS= 0.176,-1.636, 0.253, RAW= 152.0, 13.0, CAL= 152.2, 14.5, ROT= 357.8, -14.5 2025-10-27T03:59:53.947Z,1761537593.947 [DAT](INFO): got valid direction response: 03:59:52.0748 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 401, 0.27, 1.822, 0.066, 2.044, 1.748, PHS= 0.176,-1.636, 0.253, RAW= 152.0, 13.0, CAL= 152.2, 14.5, ROT= 357.8, -14.5 2025-10-27T03:59:53.949Z,1761537593.949 [DAT](INFO): DAT read: Bearing 227.1, 2.3 (Local) 2025-10-27T03:59:53.949Z,1761537593.949 [DAT](INFO): Local bearing/azimuth received: Bearing 227.1, 2.3 (Local) 2025-10-27T03:59:53.952Z,1761537593.952 [DAT](INFO): DAT read: Range 11 to 50 : 67.1 m (Round-trip 89.5 ms) speed 0.9 m/s 2025-10-27T03:59:53.953Z,1761537593.953 [DAT](INFO): DAT read: Tx time:03:59:53.1342 2025-10-27T03:59:53.953Z,1761537593.953 [DAT](INFO): Ping request sent. 2025-10-27T03:59:53.954Z,1761537593.954 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:59:53.954Z,1761537593.954 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:59:53.956Z,1761537593.956 [DAT](INFO): direction in FSK: [0.967434,-0.037165,0.250380] 2025-10-27T03:59:53.956Z,1761537593.956 [DAT](INFO): publishing transmit ping time 2025-10-27T03:59:53.956Z,1761537593.956 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:53.986Z,1761537593.986 [DAT](INFO): publishing transmit ping time 2025-10-27T03:59:53.986Z,1761537593.986 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:54.250Z,1761537594.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723519,-0.665004,-0.185174],[0.680024,0.732745,0.025554],[0.118692,-0.144411,0.982373]] 2025-10-27T03:59:54.325Z,1761537594.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.099998 m, deltaT: 3.530414 s, deltaX: -2.400002 m, approachRate: -0.679807 m/s, rangeRepo size: 4 2025-10-27T03:59:54.333Z,1761537594.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.830635 m, bearing: 43.203129 deg, lat: 36.779333 deg, lon: -121.859554 deg, deltaT: 3.530414 s, deltaX: -2.392487 m, approachRate: -0.677679 m/s, posRepo size: 4 2025-10-27T03:59:54.334Z,1761537594.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m. 2025-10-27T03:59:54.344Z,1761537594.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.830635 m, nav range: 62.189293 m, bearing: 43.202909 deg, approach rate: 0.000000 m/s, LOS rate: 0.022655 deg/s, cmd heading: 43.458148 deg, new cmd heading: 43.491870 deg. 2025-10-27T03:59:54.346Z,1761537594.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759076 target range: 66.830635 and range: 67.10 m. 2025-10-27T03:59:54.704Z,1761537594.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723789,-0.664638,-0.185432],[0.679958,0.732725,0.027766],[0.117416,-0.146183,0.982265]] 2025-10-27T03:59:54.750Z,1761537594.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m. 2025-10-27T03:59:54.753Z,1761537594.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.830635 m, nav range: 61.898014 m, bearing: 43.215923 deg, approach rate: -0.675866 m/s, LOS rate: 0.030339 deg/s, cmd heading: 43.491872 deg, new cmd heading: 43.531097 deg. 2025-10-27T03:59:54.754Z,1761537594.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759761 target range: 66.830635 and range: 67.10 m. 2025-10-27T03:59:55.104Z,1761537595.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723710,-0.664786,-0.185211],[0.680164,0.732505,0.028518],[0.116710,-0.146613,0.982285]] 2025-10-27T03:59:55.122Z,1761537595.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m. 2025-10-27T03:59:55.125Z,1761537595.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.830635 m, nav range: 61.651833 m, bearing: 43.226968 deg, approach rate: -0.661961 m/s, LOS rate: 0.029820 deg/s, cmd heading: 43.531097 deg, new cmd heading: 43.564367 deg. 2025-10-27T03:59:55.126Z,1761537595.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760342 target range: 66.830635 and range: 67.10 m. 2025-10-27T03:59:55.508Z,1761537595.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723809,-0.664560,-0.185634],[0.680155,0.732462,0.029828],[0.116147,-0.147850,0.982166]] 2025-10-27T03:59:55.544Z,1761537595.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m. 2025-10-27T03:59:55.563Z,1761537595.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.830635 m, nav range: 61.375523 m, bearing: 43.242449 deg, approach rate: -0.654600 m/s, LOS rate: 0.036840 deg/s, cmd heading: 43.564367 deg, new cmd heading: 43.611019 deg. 2025-10-27T03:59:55.564Z,1761537595.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761156 target range: 66.830635 and range: 67.10 m. 2025-10-27T03:59:55.910Z,1761537595.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724036,-0.664236,-0.185910],[0.679989,0.732573,0.030850],[0.115701,-0.148754,0.982082]] 2025-10-27T03:59:55.940Z,1761537595.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:55.942Z,1761537595.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m. 2025-10-27T03:59:55.944Z,1761537595.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.830635 m, nav range: 61.115360 m, bearing: 43.257216 deg, approach rate: -0.654516 m/s, LOS rate: 0.037307 deg/s, cmd heading: 43.611017 deg, new cmd heading: 43.655505 deg. 2025-10-27T03:59:55.945Z,1761537595.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761932 target range: 66.830635 and range: 67.10 m. 2025-10-27T03:59:55.948Z,1761537595.948 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:59:55.948Z,1761537595.948 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:59:55.948Z,1761537595.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:56.200Z,1761537596.200 [DAT](INFO): DAT read: user:31> 2025-10-27T03:59:56.201Z,1761537596.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247418 2025-10-27T03:59:56.321Z,1761537596.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723739,-0.664575,-0.185854],[0.680376,0.732195,0.031289],[0.115288,-0.149096,0.982079]] 2025-10-27T03:59:56.382Z,1761537596.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m. 2025-10-27T03:59:56.385Z,1761537596.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.830635 m, nav range: 60.841198 m, bearing: 43.271264 deg, approach rate: -0.622092 m/s, LOS rate: 0.032022 deg/s, cmd heading: 43.655506 deg, new cmd heading: 43.697842 deg. 2025-10-27T03:59:56.386Z,1761537596.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762671 target range: 66.830635 and range: 67.10 m. 2025-10-27T03:59:56.452Z,1761537596.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498914 2025-10-27T03:59:56.705Z,1761537596.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751298 2025-10-27T03:59:56.735Z,1761537596.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723638,-0.664781,-0.185511],[0.680590,0.731974,0.031798],[0.114651,-0.149268,0.982127]] 2025-10-27T03:59:56.754Z,1761537596.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m. 2025-10-27T03:59:56.756Z,1761537596.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.830635 m, nav range: 60.591331 m, bearing: 43.284122 deg, approach rate: -0.672775 m/s, LOS rate: 0.034763 deg/s, cmd heading: 43.697843 deg, new cmd heading: 43.736576 deg. 2025-10-27T03:59:56.757Z,1761537596.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763347 target range: 66.830635 and range: 67.10 m. 2025-10-27T03:59:56.956Z,1761537596.956 [DAT](INFO): DAT read: Rx Time:03:59:55.6248 2025-10-27T03:59:56.957Z,1761537596.957 [DAT](INFO): Rx dataTimestamp_ set to:1761537596.956218 2025-10-27T03:59:56.957Z,1761537596.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003561 2025-10-27T03:59:57.134Z,1761537597.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723884,-0.664418,-0.185850],[0.680432,0.732062,0.033135],[0.114038,-0.150444,0.982019]] 2025-10-27T03:59:57.153Z,1761537597.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m. 2025-10-27T03:59:57.156Z,1761537597.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.830635 m, nav range: 60.333679 m, bearing: 43.297548 deg, approach rate: -0.645431 m/s, LOS rate: 0.033775 deg/s, cmd heading: 43.736577 deg, new cmd heading: 43.777026 deg. 2025-10-27T03:59:57.157Z,1761537597.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764053 target range: 66.830635 and range: 67.10 m. 2025-10-27T03:59:57.209Z,1761537597.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255957 2025-10-27T03:59:57.463Z,1761537597.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509147 2025-10-27T03:59:57.535Z,1761537597.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723586,-0.664739,-0.185864],[0.680805,0.731696,0.033543],[0.113699,-0.150808,0.982003]] 2025-10-27T03:59:57.580Z,1761537597.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.83 m. 2025-10-27T03:59:57.582Z,1761537597.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.830635 m, nav range: 60.052235 m, bearing: 43.304309 deg, approach rate: -0.659592 m/s, LOS rate: 0.015919 deg/s, cmd heading: 43.777025 deg, new cmd heading: 43.797403 deg. 2025-10-27T03:59:57.583Z,1761537597.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764409 target range: 66.830635 and range: 67.10 m. 2025-10-27T03:59:57.720Z,1761537597.720 [DAT](INFO): DAT read: 03:59:55.6248 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 161, 0.39,-0.956,-2.700,-0.690,-1.111, PHS= 0.257,-1.544, 0.377, RAW= 153.2, 9.8, CAL= 152.9, 10.6, ROT= 357.1, -10.6 2025-10-27T03:59:57.722Z,1761537597.722 [DAT](INFO): got valid direction response: 03:59:55.6248 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 161, 0.39,-0.956,-2.700,-0.690,-1.111, PHS= 0.257,-1.544, 0.377, RAW= 153.2, 9.8, CAL= 152.9, 10.6, ROT= 357.1, -10.6 2025-10-27T03:59:57.723Z,1761537597.723 [DAT](INFO): DAT read: Bearing 223.4, 1.9 (Local) 2025-10-27T03:59:57.724Z,1761537597.724 [DAT](INFO): Local bearing/azimuth received: Bearing 223.4, 1.9 (Local) 2025-10-27T03:59:57.726Z,1761537597.726 [DAT](INFO): DAT read: Range 11 to 50 : 64.8 m (Round-trip 86.4 ms) speed 0.5 m/s 2025-10-27T03:59:57.727Z,1761537597.727 [DAT](INFO): DAT read: Tx time:03:59:56.6842 2025-10-27T03:59:57.727Z,1761537597.727 [DAT](INFO): Ping request sent. 2025-10-27T03:59:57.727Z,1761537597.727 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:59:57.728Z,1761537597.728 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:59:57.729Z,1761537597.729 [DAT](INFO): direction in FSK: [0.981677,-0.049730,0.183951] 2025-10-27T03:59:57.729Z,1761537597.729 [DAT](INFO): publishing transmit ping time 2025-10-27T03:59:57.729Z,1761537597.729 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:57.732Z,1761537597.732 [DAT](INFO): publishing transmit ping time 2025-10-27T03:59:57.733Z,1761537597.733 [DAT](INFO): publishing direction and range info 2025-10-27T03:59:57.972Z,1761537597.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723278,-0.665056,-0.185927],[0.681206,0.731295,0.034147],[0.113258,-0.151352,0.981970]] 2025-10-27T03:59:57.995Z,1761537597.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.800003 m, deltaT: 3.777937 s, deltaX: -2.299995 m, approachRate: -0.608797 m/s, rangeRepo size: 4 2025-10-27T03:59:57.997Z,1761537597.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.538696 m, bearing: 42.015371 deg, lat: 36.779338 deg, lon: -121.859554 deg, deltaT: 3.777937 s, deltaX: -2.291939 m, approachRate: -0.606664 m/s, posRepo size: 4 2025-10-27T03:59:57.998Z,1761537597.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.54 m. 2025-10-27T03:59:58.000Z,1761537598.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.538696 m, nav range: 60.167618 m, bearing: 42.964522 deg, approach rate: 0.000000 m/s, LOS rate: 0.015919 deg/s, cmd heading: 43.797403 deg, new cmd heading: 43.817210 deg. 2025-10-27T03:59:58.001Z,1761537598.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764755 target range: 64.538696 and range: 64.80 m. 2025-10-27T03:59:58.427Z,1761537598.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:59:58.429Z,1761537598.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.54 m. 2025-10-27T03:59:58.432Z,1761537598.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.538696 m, nav range: 59.871136 m, bearing: 42.960447 deg, approach rate: -0.681621 m/s, LOS rate: -0.009414 deg/s, cmd heading: 43.817211 deg, new cmd heading: 43.804927 deg. 2025-10-27T03:59:58.433Z,1761537598.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764540 target range: 64.538696 and range: 64.80 m. 2025-10-27T03:59:58.468Z,1761537598.468 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:59:58.468Z,1761537598.468 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:59:58.469Z,1761537598.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:59:58.720Z,1761537598.720 [DAT](INFO): DAT read: user:32> 2025-10-27T03:59:58.721Z,1761537598.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993817 2025-10-27T03:59:58.774Z,1761537598.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722258,-0.666286,-0.185489],[0.682434,0.730128,0.034604],[0.112375,-0.151577,0.982037]] 2025-10-27T03:59:58.800Z,1761537598.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.54 m. 2025-10-27T03:59:58.808Z,1761537598.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.538696 m, nav range: 59.625385 m, bearing: 42.956658 deg, approach rate: -0.662398 m/s, LOS rate: -0.010256 deg/s, cmd heading: 43.804926 deg, new cmd heading: 43.793512 deg. 2025-10-27T03:59:58.810Z,1761537598.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764341 target range: 64.538696 and range: 64.80 m. 2025-10-27T03:59:58.972Z,1761537598.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244367 2025-10-27T03:59:59.177Z,1761537599.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721804,-0.666747,-0.185600],[0.682967,0.729608,0.035044],[0.112050,-0.152054,0.982000]] 2025-10-27T03:59:59.195Z,1761537599.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.54 m. 2025-10-27T03:59:59.198Z,1761537599.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.538696 m, nav range: 59.352886 m, bearing: 42.952227 deg, approach rate: -0.690245 m/s, LOS rate: -0.011275 deg/s, cmd heading: 43.793513 deg, new cmd heading: 43.780160 deg. 2025-10-27T03:59:59.199Z,1761537599.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764108 target range: 64.538696 and range: 64.80 m. 2025-10-27T03:59:59.224Z,1761537599.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496467 2025-10-27T03:59:59.476Z,1761537599.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748850 2025-10-27T03:59:59.584Z,1761537599.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721041,-0.667531,-0.185750],[0.683813,0.728802,0.035313],[0.111803,-0.152480,0.981962]] 2025-10-27T03:59:59.636Z,1761537599.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.54 m. 2025-10-27T03:59:59.638Z,1761537599.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.538696 m, nav range: 59.057259 m, bearing: 42.937440 deg, approach rate: -0.670832 m/s, LOS rate: -0.033722 deg/s, cmd heading: 43.780160 deg, new cmd heading: 43.735578 deg. 2025-10-27T03:59:59.644Z,1761537599.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763330 target range: 64.538696 and range: 64.80 m. 2025-10-27T03:59:59.728Z,1761537599.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000378 2025-10-27T03:59:59.980Z,1761537599.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252466 2025-10-27T04:00:00.010Z,1761537600.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720059,-0.668638,-0.185577],[0.684905,0.727775,0.035319],[0.111442,-0.152534,0.981995]] 2025-10-27T04:00:00.028Z,1761537600.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.54 m. 2025-10-27T04:00:00.031Z,1761537600.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.538696 m, nav range: 58.772835 m, bearing: 42.922663 deg, approach rate: -0.724800 m/s, LOS rate: -0.037840 deg/s, cmd heading: 43.735580 deg, new cmd heading: 43.691032 deg. 2025-10-27T04:00:00.032Z,1761537600.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762552 target range: 64.538696 and range: 64.80 m. 2025-10-27T04:00:00.232Z,1761537600.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504413 2025-10-27T04:00:00.461Z,1761537600.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:00.463Z,1761537600.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.54 m. 2025-10-27T04:00:00.466Z,1761537600.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.538696 m, nav range: 58.466465 m, bearing: 42.904172 deg, approach rate: -0.704545 m/s, LOS rate: -0.042745 deg/s, cmd heading: 43.691033 deg, new cmd heading: 43.635270 deg. 2025-10-27T04:00:00.467Z,1761537600.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761579 target range: 64.538696 and range: 64.80 m. 2025-10-27T04:00:00.517Z,1761537600.517 [DAT](INFO): DAT read: Rx Time:03:59:59.1716 2025-10-27T04:00:00.517Z,1761537600.517 [DAT](INFO): Rx dataTimestamp_ set to:1761537600.516997 2025-10-27T04:00:00.518Z,1761537600.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.790344 2025-10-27T04:00:00.768Z,1761537600.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040955 2025-10-27T04:00:00.818Z,1761537600.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717929,-0.670954,-0.185468],[0.687183,0.725644,0.034912],[0.111160,-0.152516,0.982030]] 2025-10-27T04:00:00.853Z,1761537600.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.54 m. 2025-10-27T04:00:00.856Z,1761537600.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.538696 m, nav range: 58.190674 m, bearing: 42.886505 deg, approach rate: -0.706579 m/s, LOS rate: -0.045477 deg/s, cmd heading: 43.635271 deg, new cmd heading: 43.582019 deg. 2025-10-27T04:00:00.857Z,1761537600.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760650 target range: 64.538696 and range: 64.80 m. 2025-10-27T04:00:01.034Z,1761537601.034 [DAT](INFO): DAT read: 03:59:59.1716 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 161, 0.44,-2.969, 1.618,-2.676,-3.003, PHS= 0.135,-1.617, 0.283, RAW= 154.0, 13.0, CAL= 154.2, 14.6, ROT= 355.8, -14.6 2025-10-27T04:00:01.048Z,1761537601.048 [DAT](INFO): got valid direction response: 03:59:59.1716 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 161, 0.44,-2.969, 1.618,-2.676,-3.003, PHS= 0.135,-1.617, 0.283, RAW= 154.0, 13.0, CAL= 154.2, 14.6, ROT= 355.8, -14.6 2025-10-27T04:00:01.049Z,1761537601.049 [DAT](INFO): DAT read: Bearing 227.1, -0.3 (Local) 2025-10-27T04:00:01.049Z,1761537601.049 [DAT](INFO): Local bearing/azimuth received: Bearing 227.1, -0.3 (Local) 2025-10-27T04:00:01.050Z,1761537601.050 [DAT](INFO): DAT read: Range 11 to 50 : 62.4 m (Round-trip 83.3 ms) speed 0.7 m/s 2025-10-27T04:00:01.057Z,1761537601.057 [DAT](INFO): DAT read: Tx time:04:00:00.2311 2025-10-27T04:00:01.063Z,1761537601.063 [DAT](INFO): Ping request sent. 2025-10-27T04:00:01.063Z,1761537601.063 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:00:01.063Z,1761537601.063 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:00:01.064Z,1761537601.064 [DAT](INFO): direction in FSK: [0.965110,-0.070873,0.252069] 2025-10-27T04:00:01.065Z,1761537601.065 [DAT](INFO): publishing transmit ping time 2025-10-27T04:00:01.065Z,1761537601.065 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:01.074Z,1761537601.074 [DAT](INFO): publishing transmit ping time 2025-10-27T04:00:01.074Z,1761537601.074 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:01.214Z,1761537601.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716525,-0.672513,-0.185252],[0.688653,0.724280,0.034275],[0.111124,-0.152133,0.982093]] 2025-10-27T04:00:01.274Z,1761537601.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.309492 s, deltaX: -2.400002 m, approachRate: -0.725187 m/s, rangeRepo size: 4 2025-10-27T04:00:01.282Z,1761537601.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.146370 m, bearing: 41.927313 deg, lat: 36.779338 deg, lon: -121.859554 deg, deltaT: 3.309492 s, deltaX: -2.392326 m, approachRate: -0.722868 m/s, posRepo size: 4 2025-10-27T04:00:01.283Z,1761537601.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m. 2025-10-27T04:00:01.289Z,1761537601.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.146370 m, nav range: 57.906403 m, bearing: 42.867542 deg, approach rate: 0.000000 m/s, LOS rate: -0.045477 deg/s, cmd heading: 43.582020 deg, new cmd heading: 43.524703 deg. 2025-10-27T04:00:01.290Z,1761537601.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759649 target range: 62.146370 and range: 62.40 m. 2025-10-27T04:00:01.636Z,1761537601.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715645,-0.673710,-0.184300],[0.689587,0.723444,0.033142],[0.111003,-0.150808,0.982311]] 2025-10-27T04:00:01.689Z,1761537601.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m. 2025-10-27T04:00:01.697Z,1761537601.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.146370 m, nav range: 57.618965 m, bearing: 42.848312 deg, approach rate: -0.692545 m/s, LOS rate: -0.046565 deg/s, cmd heading: 43.524704 deg, new cmd heading: 43.466725 deg. 2025-10-27T04:00:01.703Z,1761537601.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758637 target range: 62.146370 and range: 62.40 m. 2025-10-27T04:00:02.039Z,1761537602.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714455,-0.675003,-0.184187],[0.690818,0.722293,0.032622],[0.111017,-0.150547,0.982350]] 2025-10-27T04:00:02.066Z,1761537602.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m. 2025-10-27T04:00:02.068Z,1761537602.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.146370 m, nav range: 57.346737 m, bearing: 42.829449 deg, approach rate: -0.721563 m/s, LOS rate: -0.050233 deg/s, cmd heading: 43.466726 deg, new cmd heading: 43.409871 deg. 2025-10-27T04:00:02.069Z,1761537602.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757645 target range: 62.146370 and range: 62.40 m. 2025-10-27T04:00:02.565Z,1761537602.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:02.567Z,1761537602.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m. 2025-10-27T04:00:02.569Z,1761537602.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.146370 m, nav range: 57.003410 m, bearing: 42.815257 deg, approach rate: -0.685506 m/s, LOS rate: -0.028507 deg/s, cmd heading: 43.409872 deg, new cmd heading: 43.367040 deg. 2025-10-27T04:00:02.570Z,1761537602.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756898 target range: 62.146370 and range: 62.40 m. 2025-10-27T04:00:02.784Z,1761537602.784 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:02.784Z,1761537602.784 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:02.784Z,1761537602.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:02.946Z,1761537602.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713336,-0.675720,-0.185889],[0.691923,0.721187,0.033641],[0.111329,-0.152618,0.981995]] 2025-10-27T04:00:02.964Z,1761537602.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m. 2025-10-27T04:00:02.983Z,1761537602.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.146370 m, nav range: 56.729954 m, bearing: 42.803400 deg, approach rate: -0.687303 m/s, LOS rate: -0.029946 deg/s, cmd heading: 43.367040 deg, new cmd heading: 43.331296 deg. 2025-10-27T04:00:02.984Z,1761537602.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756274 target range: 62.146370 and range: 62.40 m. 2025-10-27T04:00:03.036Z,1761537603.036 [DAT](INFO): DAT read: user:33> 2025-10-27T04:00:03.037Z,1761537603.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977881 2025-10-27T04:00:03.288Z,1761537603.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229011 2025-10-27T04:00:03.430Z,1761537603.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713407,-0.675233,-0.187380],[0.691808,0.721238,0.034888],[0.111588,-0.154521,0.981668]] 2025-10-27T04:00:03.486Z,1761537603.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m. 2025-10-27T04:00:03.490Z,1761537603.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.146370 m, nav range: 56.388756 m, bearing: 42.795805 deg, approach rate: -0.654182 m/s, LOS rate: -0.014650 deg/s, cmd heading: 43.331297 deg, new cmd heading: 43.308375 deg. 2025-10-27T04:00:03.499Z,1761537603.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755874 target range: 62.146370 and range: 62.40 m. 2025-10-27T04:00:03.540Z,1761537603.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481194 2025-10-27T04:00:03.792Z,1761537603.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733438 2025-10-27T04:00:03.867Z,1761537603.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713849,-0.674302,-0.189040],[0.691371,0.721553,0.036978],[0.111468,-0.157093,0.981273]] 2025-10-27T04:00:03.885Z,1761537603.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m. 2025-10-27T04:00:03.888Z,1761537603.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.146370 m, nav range: 56.102970 m, bearing: 42.789568 deg, approach rate: -0.715572 m/s, LOS rate: -0.015697 deg/s, cmd heading: 43.308375 deg, new cmd heading: 43.289567 deg. 2025-10-27T04:00:03.889Z,1761537603.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755545 target range: 62.146370 and range: 62.40 m. 2025-10-27T04:00:04.044Z,1761537604.044 [DAT](INFO): DAT read: Rx Time:04:00:02.7153 2025-10-27T04:00:04.044Z,1761537604.044 [DAT](INFO): Rx dataTimestamp_ set to:1761537604.044129 2025-10-27T04:00:04.045Z,1761537604.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986156 2025-10-27T04:00:04.270Z,1761537604.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714684,-0.673285,-0.189512],[0.690636,0.722156,0.038888],[0.110675,-0.158676,0.981108]] 2025-10-27T04:00:04.297Z,1761537604.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238506 2025-10-27T04:00:04.327Z,1761537604.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m. 2025-10-27T04:00:04.349Z,1761537604.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.146370 m, nav range: 55.829353 m, bearing: 42.783857 deg, approach rate: -0.627896 m/s, LOS rate: -0.013170 deg/s, cmd heading: 43.289568 deg, new cmd heading: 43.272351 deg. 2025-10-27T04:00:04.357Z,1761537604.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755245 target range: 62.146370 and range: 62.40 m. 2025-10-27T04:00:04.551Z,1761537604.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491429 2025-10-27T04:00:04.811Z,1761537604.811 [DAT](INFO): DAT read: 04:00:02.7153 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417,-0.46, 2.462, 0.760, 2.736, 2.367, PHS= 0.197,-1.562, 0.325, RAW= 153.5, 11.4, CAL= 153.5, 12.6, ROT= 356.5, -12.6 2025-10-27T04:00:04.812Z,1761537604.812 [DAT](INFO): got valid direction response: 04:00:02.7153 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417,-0.46, 2.462, 0.760, 2.736, 2.367, PHS= 0.197,-1.562, 0.325, RAW= 153.5, 11.4, CAL= 153.5, 12.6, ROT= 356.5, -12.6 2025-10-27T04:00:04.814Z,1761537604.814 [DAT](INFO): DAT read: Bearing 225.4, 0.6 (Local) 2025-10-27T04:00:04.815Z,1761537604.815 [DAT](INFO): Local bearing/azimuth received: Bearing 225.4, 0.6 (Local) 2025-10-27T04:00:04.852Z,1761537604.852 [DAT](INFO): DAT read: Range 11 to 50 : 60.0 m (Round-trip 80.0 ms) speed 0.9 m/s 2025-10-27T04:00:04.853Z,1761537604.853 [DAT](INFO): DAT read: user:34>Tx time:04:00:03.7811 2025-10-27T04:00:04.854Z,1761537604.854 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:00:04.867Z,1761537604.867 [DAT](INFO): direction in FSK: [0.974096,-0.059578,0.218143] 2025-10-27T04:00:04.868Z,1761537604.868 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:04.874Z,1761537604.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717352,-0.669808,-0.191738],[0.688144,0.724197,0.044683],[0.108927,-0.163997,0.980428]] 2025-10-27T04:00:04.879Z,1761537604.879 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:04.879Z,1761537604.879 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:04.879Z,1761537604.879 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:04.966Z,1761537604.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.000000 m, deltaT: 3.779039 s, deltaX: -2.400002 m, approachRate: -0.635082 m/s, rangeRepo size: 4 2025-10-27T04:00:04.972Z,1761537604.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.754772 m, bearing: 42.427271 deg, lat: 36.779343 deg, lon: -121.859554 deg, deltaT: 3.779039 s, deltaX: -2.391598 m, approachRate: -0.632859 m/s, posRepo size: 4 2025-10-27T04:00:04.973Z,1761537604.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:04.974Z,1761537604.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:04.980Z,1761537604.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 55.817162 m, bearing: 42.368190 deg, approach rate: 0.000000 m/s, LOS rate: -0.013170 deg/s, cmd heading: 43.272353 deg, new cmd heading: 43.246895 deg. 2025-10-27T04:00:04.981Z,1761537604.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754801 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:05.036Z,1761537605.036 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T04:00:05.052Z,1761537605.052 [DAT](INFO): DAT read: 2025-10-27T04:00:05.053Z,1761537605.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.994423 2025-10-27T04:00:05.304Z,1761537605.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.245513 2025-10-27T04:00:05.411Z,1761537605.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718931,-0.667940,-0.192338],[0.686651,0.725445,0.047318],[0.107925,-0.166088,0.980187]] 2025-10-27T04:00:05.470Z,1761537605.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:05.472Z,1761537605.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:05.473Z,1761537605.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:05.475Z,1761537605.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 55.461060 m, bearing: 42.370174 deg, approach rate: -0.702945 m/s, LOS rate: 0.003941 deg/s, cmd heading: 43.246893 deg, new cmd heading: 43.252883 deg. 2025-10-27T04:00:05.476Z,1761537605.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754905 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:05.557Z,1761537605.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.497972 2025-10-27T04:00:05.810Z,1761537605.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.750696 2025-10-27T04:00:05.828Z,1761537605.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720109,-0.666595,-0.192597],[0.685610,0.726264,0.049797],[0.106682,-0.167906,0.980014]] 2025-10-27T04:00:05.874Z,1761537605.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:05.877Z,1761537605.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:05.888Z,1761537605.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 55.204834 m, bearing: 42.372027 deg, approach rate: -0.636818 m/s, LOS rate: 0.004627 deg/s, cmd heading: 43.252883 deg, new cmd heading: 43.258468 deg. 2025-10-27T04:00:05.889Z,1761537605.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755003 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:06.060Z,1761537606.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.001120 2025-10-27T04:00:06.228Z,1761537606.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721285,-0.665367,-0.192445],[0.684613,0.727029,0.052274],[0.105132,-0.169455,0.979914]] 2025-10-27T04:00:06.247Z,1761537606.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:06.247Z,1761537606.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:06.250Z,1761537606.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 54.931408 m, bearing: 42.374454 deg, approach rate: -0.734801 m/s, LOS rate: 0.006555 deg/s, cmd heading: 43.258467 deg, new cmd heading: 43.265784 deg. 2025-10-27T04:00:06.279Z,1761537606.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755130 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:06.312Z,1761537606.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.253614 2025-10-27T04:00:06.565Z,1761537606.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.506096 2025-10-27T04:00:06.640Z,1761537606.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722146,-0.664926,-0.190731],[0.683915,0.727657,0.052684],[0.103756,-0.168489,0.980228]] 2025-10-27T04:00:06.817Z,1761537606.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.757904 2025-10-27T04:00:06.819Z,1761537606.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:06.820Z,1761537606.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:06.825Z,1761537606.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 54.551121 m, bearing: 42.372854 deg, approach rate: -0.665028 m/s, LOS rate: -0.002818 deg/s, cmd heading: 43.265785 deg, new cmd heading: 43.260951 deg. 2025-10-27T04:00:06.826Z,1761537606.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755046 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:07.068Z,1761537607.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.008930 2025-10-27T04:00:07.148Z,1761537607.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723964,-0.663025,-0.190457],[0.682367,0.728812,0.056641],[0.101253,-0.170968,0.980060]] 2025-10-27T04:00:07.186Z,1761537607.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:07.187Z,1761537607.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:07.190Z,1761537607.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 54.297981 m, bearing: 42.372388 deg, approach rate: -0.687857 m/s, LOS rate: -0.001272 deg/s, cmd heading: 43.260950 deg, new cmd heading: 43.259545 deg. 2025-10-27T04:00:07.191Z,1761537607.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755022 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:07.321Z,1761537607.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.261969 2025-10-27T04:00:07.545Z,1761537607.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724549,-0.662572,-0.189808],[0.681920,0.729136,0.057849],[0.100067,-0.171348,0.980116]] 2025-10-27T04:00:07.572Z,1761537607.572 [DAT](INFO): DAT read: Rx Time:04:00:06.2620 2025-10-27T04:00:07.573Z,1761537607.573 [DAT](INFO): Rx dataTimestamp_ set to:1761537607.572290 2025-10-27T04:00:07.573Z,1761537607.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.514321 2025-10-27T04:00:07.610Z,1761537607.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:07.617Z,1761537607.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:07.617Z,1761537607.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:07.624Z,1761537607.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 54.012997 m, bearing: 42.366345 deg, approach rate: -0.662459 m/s, LOS rate: -0.014120 deg/s, cmd heading: 43.259546 deg, new cmd heading: 43.241323 deg. 2025-10-27T04:00:07.625Z,1761537607.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754703 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:07.824Z,1761537607.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.765239 2025-10-27T04:00:07.946Z,1761537607.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725294,-0.662027,-0.188861],[0.681309,0.729625,0.058866],[0.098827,-0.171368,0.980238]] 2025-10-27T04:00:07.979Z,1761537607.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:07.979Z,1761537607.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:07.982Z,1761537607.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 53.754448 m, bearing: 42.361072 deg, approach rate: -0.714255 m/s, LOS rate: -0.014636 deg/s, cmd heading: 43.241323 deg, new cmd heading: 43.225429 deg. 2025-10-27T04:00:07.983Z,1761537607.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754426 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:08.080Z,1761537608.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.020300 2025-10-27T04:00:08.334Z,1761537608.334 [DAT](INFO): DAT read: 04:00:06.2620 LVL= 31648, 32753, 32754, 32755, AGC= 67, IDX= 159,-0.50, 0.558,-1.210, 0.815, 0.403, PHS= 0.256,-1.569, 0.368, RAW= 152.9, 10.1, CAL= 152.7, 10.9, ROT= 357.3, -10.9 2025-10-27T04:00:08.339Z,1761537608.339 [DAT](INFO): got valid direction response: 04:00:06.2620 LVL= 31648, 32753, 32754, 32755, AGC= 67, IDX= 159,-0.50, 0.558,-1.210, 0.815, 0.403, PHS= 0.256,-1.569, 0.368, RAW= 152.9, 10.1, CAL= 152.7, 10.9, ROT= 357.3, -10.9 2025-10-27T04:00:08.340Z,1761537608.340 [DAT](INFO): DAT read: $Error in header 2025-10-27T04:00:08.340Z,1761537608.340 [DAT](INFO): Received a bad header 2025-10-27T04:00:08.351Z,1761537608.351 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:00:08.352Z,1761537608.352 [DAT](INFO): direction in FSK: [0.980869,-0.046257,0.189095] 2025-10-27T04:00:08.355Z,1761537608.355 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:08.355Z,1761537608.355 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:08.355Z,1761537608.355 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:08.443Z,1761537608.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725608,-0.662059,-0.187540],[0.681125,0.729784,0.059028],[0.097784,-0.170569,0.980482]] 2025-10-27T04:00:08.522Z,1761537608.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:08.523Z,1761537608.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:08.526Z,1761537608.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 53.368076 m, bearing: 42.350661 deg, approach rate: -0.710918 m/s, LOS rate: -0.019295 deg/s, cmd heading: 43.225429 deg, new cmd heading: 43.193970 deg. 2025-10-27T04:00:08.526Z,1761537608.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753877 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:08.580Z,1761537608.580 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:08.580Z,1761537608.580 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:08.580Z,1761537608.580 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:08.832Z,1761537608.832 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:08.832Z,1761537608.832 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:08.832Z,1761537608.832 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:08.859Z,1761537608.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725711,-0.662042,-0.187200],[0.681155,0.729669,0.060093],[0.096810,-0.171123,0.980482]] 2025-10-27T04:00:08.893Z,1761537608.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:08.894Z,1761537608.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:08.901Z,1761537608.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 53.114841 m, bearing: 42.343764 deg, approach rate: -0.682370 m/s, LOS rate: -0.018674 deg/s, cmd heading: 43.193969 deg, new cmd heading: 43.173179 deg. 2025-10-27T04:00:08.901Z,1761537608.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753514 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:09.084Z,1761537609.084 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:09.084Z,1761537609.084 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:09.084Z,1761537609.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:09.262Z,1761537609.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725725,-0.662139,-0.186801],[0.681243,0.729536,0.060713],[0.096078,-0.171318,0.980520]] 2025-10-27T04:00:09.279Z,1761537609.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:09.280Z,1761537609.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:09.283Z,1761537609.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 52.828335 m, bearing: 42.335862 deg, approach rate: -0.741713 m/s, LOS rate: -0.020568 deg/s, cmd heading: 43.173178 deg, new cmd heading: 43.149343 deg. 2025-10-27T04:00:09.284Z,1761537609.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753098 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:09.336Z,1761537609.336 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:09.336Z,1761537609.336 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:09.336Z,1761537609.336 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:09.588Z,1761537609.588 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:09.588Z,1761537609.588 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:09.588Z,1761537609.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:09.745Z,1761537609.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:09.751Z,1761537609.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:09.751Z,1761537609.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:09.754Z,1761537609.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 52.510948 m, bearing: 42.323472 deg, approach rate: -0.679396 m/s, LOS rate: -0.026681 deg/s, cmd heading: 43.149344 deg, new cmd heading: 43.111951 deg. 2025-10-27T04:00:09.759Z,1761537609.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752446 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:09.841Z,1761537609.841 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:09.841Z,1761537609.841 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:09.841Z,1761537609.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:10.083Z,1761537610.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725031,-0.663518,-0.184590],[0.682222,0.728637,0.060506],[0.094352,-0.169800,0.980951]] 2025-10-27T04:00:10.092Z,1761537610.092 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:10.092Z,1761537610.092 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:10.092Z,1761537610.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:10.119Z,1761537610.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:10.123Z,1761537610.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:10.126Z,1761537610.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 52.240166 m, bearing: 42.312443 deg, approach rate: -0.728004 m/s, LOS rate: -0.029807 deg/s, cmd heading: 43.111953 deg, new cmd heading: 43.078692 deg. 2025-10-27T04:00:10.136Z,1761537610.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751865 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:10.344Z,1761537610.344 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:10.344Z,1761537610.344 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:10.344Z,1761537610.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:10.492Z,1761537610.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724276,-0.664607,-0.183638],[0.683123,0.727817,0.060211],[0.093638,-0.169057,0.981148]] 2025-10-27T04:00:10.544Z,1761537610.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:10.545Z,1761537610.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:10.548Z,1761537610.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 51.933807 m, bearing: 42.300760 deg, approach rate: -0.719793 m/s, LOS rate: -0.027611 deg/s, cmd heading: 43.078693 deg, new cmd heading: 43.043437 deg. 2025-10-27T04:00:10.549Z,1761537610.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751250 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:10.597Z,1761537610.597 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:10.597Z,1761537610.597 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:10.597Z,1761537610.597 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:10.848Z,1761537610.848 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:00:10.848Z,1761537610.848 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:00:10.848Z,1761537610.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:00:10.902Z,1761537610.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724057,-0.665076,-0.182798],[0.683455,0.727501,0.060268],[0.092903,-0.168572,0.981301]] 2025-10-27T04:00:10.928Z,1761537610.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:10.929Z,1761537610.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 60.00 m. 2025-10-27T04:00:10.929Z,1761537610.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 60.00 m. 2025-10-27T04:00:10.929Z,1761537610.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T04:00:10.932Z,1761537610.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 51.662308 m, bearing: 42.290176 deg, approach rate: -0.707119 m/s, LOS rate: -0.027711 deg/s, cmd heading: 43.043439 deg, new cmd heading: 43.011520 deg. 2025-10-27T04:00:10.933Z,1761537610.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750693 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:11.099Z,1761537611.099 [DAT](INFO): Reached modem response timeout 2025-10-27T04:00:11.100Z,1761537611.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:11.100Z,1761537611.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:11.302Z,1761537611.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724181,-0.665498,-0.180761],[0.683446,0.727582,0.059381],[0.092001,-0.166543,0.981733]] 2025-10-27T04:00:11.349Z,1761537611.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:11.352Z,1761537611.352 [DAT](INFO): DAT read: 2025-10-27T04:00:11.352Z,1761537611.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:11.356Z,1761537611.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 51.379345 m, bearing: 42.279070 deg, approach rate: -0.672650 m/s, LOS rate: -0.026545 deg/s, cmd heading: 43.011521 deg, new cmd heading: 42.978022 deg. 2025-10-27T04:00:11.357Z,1761537611.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750108 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:11.604Z,1761537611.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:11.705Z,1761537611.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724012,-0.666237,-0.178703],[0.683720,0.727429,0.058094],[0.091290,-0.164244,0.982186]] 2025-10-27T04:00:11.762Z,1761537611.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:11.768Z,1761537611.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:11.770Z,1761537611.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 51.086201 m, bearing: 42.264151 deg, approach rate: -0.699617 m/s, LOS rate: -0.035811 deg/s, cmd heading: 42.978023 deg, new cmd heading: 42.933008 deg. 2025-10-27T04:00:11.776Z,1761537611.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749322 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:11.856Z,1761537611.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:12.108Z,1761537612.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:12.124Z,1761537612.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724018,-0.666502,-0.177688],[0.683829,0.727314,0.058237],[0.090420,-0.163673,0.982362]] 2025-10-27T04:00:12.171Z,1761537612.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:12.174Z,1761537612.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 50.794533 m, bearing: 42.249115 deg, approach rate: -0.731041 m/s, LOS rate: -0.037903 deg/s, cmd heading: 42.933008 deg, new cmd heading: 42.887642 deg. 2025-10-27T04:00:12.179Z,1761537612.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748531 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:12.360Z,1761537612.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:12.521Z,1761537612.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723399,-0.667765,-0.175453],[0.684572,0.726749,0.056543],[0.089752,-0.161013,0.982863]] 2025-10-27T04:00:12.571Z,1761537612.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:12.574Z,1761537612.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 50.517597 m, bearing: 42.230758 deg, approach rate: -0.684979 m/s, LOS rate: -0.045653 deg/s, cmd heading: 42.887642 deg, new cmd heading: 42.832270 deg. 2025-10-27T04:00:12.576Z,1761537612.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747564 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:12.612Z,1761537612.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:12.864Z,1761537612.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:12.905Z,1761537612.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722676,-0.668989,-0.173762],[0.685430,0.726021,0.055498],[0.089027,-0.159208,0.983223]] 2025-10-27T04:00:12.933Z,1761537612.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:12.936Z,1761537612.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 50.272182 m, bearing: 42.214018 deg, approach rate: -0.678252 m/s, LOS rate: -0.046491 deg/s, cmd heading: 42.832270 deg, new cmd heading: 42.781804 deg. 2025-10-27T04:00:12.937Z,1761537612.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746683 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:13.117Z,1761537613.117 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:13.319Z,1761537613.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722181,-0.669810,-0.172655],[0.686038,0.725478,0.055087],[0.088359,-0.158231,0.983441]] 2025-10-27T04:00:13.361Z,1761537613.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:13.368Z,1761537613.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:13.369Z,1761537613.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 49.995857 m, bearing: 42.194730 deg, approach rate: -0.646192 m/s, LOS rate: -0.045354 deg/s, cmd heading: 42.781805 deg, new cmd heading: 42.723623 deg. 2025-10-27T04:00:13.370Z,1761537613.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745668 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:13.620Z,1761537613.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:13.721Z,1761537613.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721216,-0.671283,-0.170956],[0.687158,0.724490,0.054113],[0.087531,-0.156501,0.983792]] 2025-10-27T04:00:13.764Z,1761537613.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:13.766Z,1761537613.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:13.769Z,1761537613.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 49.713413 m, bearing: 42.173442 deg, approach rate: -0.697109 m/s, LOS rate: -0.052840 deg/s, cmd heading: 42.723622 deg, new cmd heading: 42.659396 deg. 2025-10-27T04:00:13.770Z,1761537613.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744547 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:13.873Z,1761537613.873 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:14.117Z,1761537614.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720745,-0.672040,-0.169966],[0.687781,0.723880,0.054357],[0.086505,-0.156077,0.983950]] 2025-10-27T04:00:14.124Z,1761537614.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:14.138Z,1761537614.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:14.157Z,1761537614.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 49.465790 m, bearing: 42.154359 deg, approach rate: -0.665127 m/s, LOS rate: -0.051516 deg/s, cmd heading: 42.659394 deg, new cmd heading: 42.601857 deg. 2025-10-27T04:00:14.158Z,1761537614.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743543 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:14.376Z,1761537614.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:14.544Z,1761537614.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720024,-0.673026,-0.169120],[0.688645,0.723050,0.054457],[0.085631,-0.155674,0.984090]] 2025-10-27T04:00:14.582Z,1761537614.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:14.601Z,1761537614.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 49.176426 m, bearing: 42.122481 deg, approach rate: -0.652136 m/s, LOS rate: -0.072265 deg/s, cmd heading: 42.601857 deg, new cmd heading: 42.505661 deg. 2025-10-27T04:00:14.602Z,1761537614.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741864 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:14.628Z,1761537614.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:14.880Z,1761537614.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:14.928Z,1761537614.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719203,-0.674154,-0.168117],[0.689622,0.722117,0.054490],[0.084666,-0.155127,0.984260]] 2025-10-27T04:00:14.946Z,1761537614.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:14.949Z,1761537614.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 48.938862 m, bearing: 42.095675 deg, approach rate: -0.651573 m/s, LOS rate: -0.073878 deg/s, cmd heading: 42.505661 deg, new cmd heading: 42.424853 deg. 2025-10-27T04:00:14.950Z,1761537614.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740453 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:15.134Z,1761537615.134 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:15.329Z,1761537615.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718462,-0.674943,-0.168116],[0.690510,0.721182,0.055606],[0.083712,-0.156037,0.984198]] 2025-10-27T04:00:15.379Z,1761537615.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:15.381Z,1761537615.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 48.672146 m, bearing: 42.064893 deg, approach rate: -0.617034 m/s, LOS rate: -0.071603 deg/s, cmd heading: 42.424853 deg, new cmd heading: 42.332001 deg. 2025-10-27T04:00:15.382Z,1761537615.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738833 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:15.384Z,1761537615.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:15.636Z,1761537615.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:15.736Z,1761537615.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717678,-0.675870,-0.167742],[0.691438,0.720239,0.056291],[0.082769,-0.156382,0.984222]] 2025-10-27T04:00:15.793Z,1761537615.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:15.807Z,1761537615.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:15.815Z,1761537615.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 48.398769 m, bearing: 42.030959 deg, approach rate: -0.645412 m/s, LOS rate: -0.080567 deg/s, cmd heading: 42.332000 deg, new cmd heading: 42.229622 deg. 2025-10-27T04:00:15.816Z,1761537615.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737046 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:15.888Z,1761537615.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:16.137Z,1761537616.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716618,-0.676896,-0.168140],[0.692616,0.719027,0.057304],[0.082109,-0.157521,0.984096]] 2025-10-27T04:00:16.140Z,1761537616.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:16.171Z,1761537616.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:16.174Z,1761537616.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 48.137005 m, bearing: 41.997598 deg, approach rate: -0.710174 m/s, LOS rate: -0.091003 deg/s, cmd heading: 42.229622 deg, new cmd heading: 42.128993 deg. 2025-10-27T04:00:16.175Z,1761537616.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735290 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:16.394Z,1761537616.394 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:16.572Z,1761537616.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715531,-0.678017,-0.168251],[0.693823,0.717799,0.058084],[0.081388,-0.158297,0.984031]] 2025-10-27T04:00:16.608Z,1761537616.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:16.627Z,1761537616.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 47.846809 m, bearing: 41.958279 deg, approach rate: -0.663074 m/s, LOS rate: -0.090385 deg/s, cmd heading: 42.128993 deg, new cmd heading: 42.010321 deg. 2025-10-27T04:00:16.628Z,1761537616.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733218 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:16.644Z,1761537616.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:16.896Z,1761537616.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:16.957Z,1761537616.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715024,-0.678262,-0.169415],[0.694414,0.717073,0.059962],[0.080813,-0.160519,0.983719]] 2025-10-27T04:00:16.978Z,1761537616.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:17.016Z,1761537617.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 47.603741 m, bearing: 41.924739 deg, approach rate: -0.662871 m/s, LOS rate: -0.091932 deg/s, cmd heading: 42.010322 deg, new cmd heading: 41.909189 deg. 2025-10-27T04:00:17.017Z,1761537617.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731453 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:17.143Z,1761537617.143 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:00:17.148Z,1761537617.148 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:00:17.149Z,1761537617.149 [DAT](INFO): response not received 2025-10-27T04:00:17.149Z,1761537617.149 [DAT](INFO): DAT read: user:36>Tx time:04:00:16.2311 2025-10-27T04:00:17.150Z,1761537617.150 [DAT](ERROR): No response from remote modem. 2025-10-27T04:00:17.150Z,1761537617.150 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:17.150Z,1761537617.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:17.361Z,1761537617.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714060,-0.679006,-0.170496],[0.695431,0.715990,0.061104],[0.080584,-0.162200,0.983462]] 2025-10-27T04:00:17.379Z,1761537617.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:17.382Z,1761537617.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 47.336155 m, bearing: 41.886951 deg, approach rate: -0.662905 m/s, LOS rate: -0.094144 deg/s, cmd heading: 41.909190 deg, new cmd heading: 41.795186 deg. 2025-10-27T04:00:17.383Z,1761537617.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.729464 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:17.400Z,1761537617.400 [DAT](INFO): DAT read: 2025-10-27T04:00:17.400Z,1761537617.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:17.653Z,1761537617.653 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:17.757Z,1761537617.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713247,-0.679317,-0.172644],[0.696253,0.715032,0.062943],[0.080688,-0.165098,0.982971]] 2025-10-27T04:00:17.815Z,1761537617.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:17.817Z,1761537617.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:17.820Z,1761537617.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 47.041584 m, bearing: 41.850351 deg, approach rate: -0.671580 m/s, LOS rate: -0.083965 deg/s, cmd heading: 41.795184 deg, new cmd heading: 41.684697 deg. 2025-10-27T04:00:17.821Z,1761537617.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727535 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:17.905Z,1761537617.905 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:18.147Z,1761537618.147 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:00:18.156Z,1761537618.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:18.178Z,1761537618.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712812,-0.679343,-0.174335],[0.696735,0.714376,0.065016],[0.080372,-0.167809,0.982538]] 2025-10-27T04:00:18.198Z,1761537618.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:18.201Z,1761537618.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 46.785927 m, bearing: 41.818016 deg, approach rate: -0.671962 m/s, LOS rate: -0.085452 deg/s, cmd heading: 41.684696 deg, new cmd heading: 41.587161 deg. 2025-10-27T04:00:18.202Z,1761537618.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725833 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:18.408Z,1761537618.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:18.598Z,1761537618.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712153,-0.679686,-0.175684],[0.697411,0.713603,0.066242],[0.080345,-0.169698,0.982215]] 2025-10-27T04:00:18.640Z,1761537618.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:18.642Z,1761537618.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 46.487671 m, bearing: 41.798082 deg, approach rate: -0.674978 m/s, LOS rate: -0.045402 deg/s, cmd heading: 41.587161 deg, new cmd heading: 41.526975 deg. 2025-10-27T04:00:18.644Z,1761537618.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724782 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:18.660Z,1761537618.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:18.912Z,1761537618.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:18.974Z,1761537618.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712022,-0.679539,-0.176783],[0.697624,0.713200,0.068313],[0.079661,-0.171969,0.981876]] 2025-10-27T04:00:18.992Z,1761537618.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:18.995Z,1761537618.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 46.249996 m, bearing: 41.781958 deg, approach rate: -0.673792 m/s, LOS rate: -0.045946 deg/s, cmd heading: 41.526976 deg, new cmd heading: 41.478355 deg. 2025-10-27T04:00:18.996Z,1761537618.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723934 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:19.164Z,1761537619.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:19.378Z,1761537619.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711807,-0.679308,-0.178527],[0.697872,0.712752,0.070419],[0.079410,-0.174714,0.981412]] 2025-10-27T04:00:19.416Z,1761537619.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:19.418Z,1761537619.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:19.425Z,1761537619.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 45.969128 m, bearing: 41.762598 deg, approach rate: -0.659644 m/s, LOS rate: -0.045747 deg/s, cmd heading: 41.478356 deg, new cmd heading: 41.419921 deg. 2025-10-27T04:00:19.426Z,1761537619.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722914 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:19.668Z,1761537619.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:19.786Z,1761537619.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712274,-0.678526,-0.179633],[0.697432,0.713005,0.072205],[0.079086,-0.176711,0.981080]] 2025-10-27T04:00:19.834Z,1761537619.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:19.836Z,1761537619.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:19.839Z,1761537619.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 45.681759 m, bearing: 41.756650 deg, approach rate: -0.687127 m/s, LOS rate: -0.014311 deg/s, cmd heading: 41.419920 deg, new cmd heading: 41.401965 deg. 2025-10-27T04:00:19.840Z,1761537619.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722601 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:19.924Z,1761537619.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:20.172Z,1761537620.172 [DAT](INFO): DAT read: Rx Time:04:00:18.7009 2025-10-27T04:00:20.173Z,1761537620.173 [DAT](INFO): Rx dataTimestamp_ set to:1761537620.172403 2025-10-27T04:00:20.173Z,1761537620.173 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:20.188Z,1761537620.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712709,-0.677712,-0.180973],[0.696996,0.713257,0.073896],[0.079000,-0.178804,0.980708]] 2025-10-27T04:00:20.226Z,1761537620.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:20.229Z,1761537620.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 45.419540 m, bearing: 41.751383 deg, approach rate: -0.673562 m/s, LOS rate: -0.013610 deg/s, cmd heading: 41.401963 deg, new cmd heading: 41.386069 deg. 2025-10-27T04:00:20.230Z,1761537620.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722323 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:20.427Z,1761537620.427 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:20.630Z,1761537620.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713564,-0.676479,-0.182217],[0.696129,0.713923,0.075622],[0.078932,-0.180807,0.980346]] 2025-10-27T04:00:20.667Z,1761537620.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T04:00:20.670Z,1761537620.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.754772 m, nav range: 45.129951 m, bearing: 41.757837 deg, approach rate: -0.656879 m/s, LOS rate: 0.014735 deg/s, cmd heading: 41.386070 deg, new cmd heading: 41.405557 deg. 2025-10-27T04:00:20.670Z,1761537620.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722663 target range: 59.754772 and range: 60.00 m. 2025-10-27T04:00:20.681Z,1761537620.681 [DAT](INFO): DAT read: 04:00:18.7009 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 333, 0.38,-0.066,-1.689, 0.371,-0.181, PHS= 0.217,-1.463, 0.508, RAW= 157.9, 8.1, CAL= 157.5, 8.4, ROT= 352.5, -8.4 2025-10-27T04:00:20.683Z,1761537620.683 [DAT](INFO): got valid direction response: 04:00:18.7009 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 333, 0.38,-0.066,-1.689, 0.371,-0.181, PHS= 0.217,-1.463, 0.508, RAW= 157.9, 8.1, CAL= 157.5, 8.4, ROT= 352.5, -8.4 2025-10-27T04:00:20.684Z,1761537620.684 [DAT](INFO): DAT read: Bearing 215.8, -4.5 (Local) 2025-10-27T04:00:20.684Z,1761537620.684 [DAT](INFO): Local bearing/azimuth received: Bearing 215.8, -4.5 (Local) 2025-10-27T04:00:20.685Z,1761537620.685 [DAT](INFO): DAT read: Range 11 to 50 : 49.2 m (Round-trip 65.7 ms) speed 0.4 m/s 2025-10-27T04:00:20.686Z,1761537620.686 [DAT](INFO): DAT read: user:37>Tx time:04:00:19.7811 2025-10-27T04:00:20.688Z,1761537620.688 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:00:20.690Z,1761537620.690 [DAT](INFO): direction in FSK: [0.980809,-0.129126,0.146083] 2025-10-27T04:00:20.690Z,1761537620.690 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:20.704Z,1761537620.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:20.704Z,1761537620.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:20.928Z,1761537620.928 [DAT](INFO): DAT read: 2025-10-27T04:00:20.929Z,1761537620.929 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:21.020Z,1761537621.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714584,-0.675378,-0.182299],[0.695112,0.714823,0.076467],[0.078667,-0.181360,0.980265]] 2025-10-27T04:00:21.043Z,1761537621.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 15.875052 s, deltaX: -10.799999 m, approachRate: -0.680313 m/s, rangeRepo size: 4 2025-10-27T04:00:21.045Z,1761537621.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.997154 m, bearing: 38.266805 deg, lat: 36.779347 deg, lon: -121.859554 deg, deltaT: 15.875052 s, deltaX: -10.757618 m, approachRate: -0.677643 m/s, posRepo size: 4 2025-10-27T04:00:21.046Z,1761537621.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T04:00:21.048Z,1761537621.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.997154 m, nav range: 45.185772 m, bearing: 41.425303 deg, approach rate: 0.000000 m/s, LOS rate: 0.014735 deg/s, cmd heading: 41.405556 deg, new cmd heading: 41.422146 deg. 2025-10-27T04:00:21.049Z,1761537621.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722953 target range: 48.997154 and range: 49.20 m. 2025-10-27T04:00:21.180Z,1761537621.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:21.422Z,1761537621.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715901,-0.673753,-0.183147],[0.693765,0.715967,0.077985],[0.078585,-0.182891,0.979988]] 2025-10-27T04:00:21.432Z,1761537621.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:21.464Z,1761537621.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T04:00:21.472Z,1761537621.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.997154 m, nav range: 44.910873 m, bearing: 41.430645 deg, approach rate: -0.650549 m/s, LOS rate: 0.012719 deg/s, cmd heading: 41.422147 deg, new cmd heading: 41.438271 deg. 2025-10-27T04:00:21.472Z,1761537621.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723234 target range: 48.997154 and range: 49.20 m. 2025-10-27T04:00:21.684Z,1761537621.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:21.825Z,1761537621.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717393,-0.672411,-0.182238],[0.692248,0.717441,0.077914],[0.078355,-0.182049,0.980163]] 2025-10-27T04:00:21.866Z,1761537621.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:21.869Z,1761537621.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T04:00:21.872Z,1761537621.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.997154 m, nav range: 44.649658 m, bearing: 41.442460 deg, approach rate: -0.646236 m/s, LOS rate: 0.029399 deg/s, cmd heading: 41.438273 deg, new cmd heading: 41.473923 deg. 2025-10-27T04:00:21.873Z,1761537621.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723857 target range: 48.997154 and range: 49.20 m. 2025-10-27T04:00:21.936Z,1761537621.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:22.188Z,1761537622.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:22.233Z,1761537622.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718702,-0.671293,-0.181201],[0.690916,0.718753,0.077644],[0.078117,-0.180998,0.980376]] 2025-10-27T04:00:22.253Z,1761537622.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T04:00:22.256Z,1761537622.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.997154 m, nav range: 44.406384 m, bearing: 41.454180 deg, approach rate: -0.633719 m/s, LOS rate: 0.030697 deg/s, cmd heading: 41.473923 deg, new cmd heading: 41.509275 deg. 2025-10-27T04:00:22.256Z,1761537622.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724474 target range: 48.997154 and range: 49.20 m. 2025-10-27T04:00:22.440Z,1761537622.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:22.661Z,1761537622.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720144,-0.669775,-0.181091],[0.689449,0.720065,0.078526],[0.077803,-0.181403,0.980326]] 2025-10-27T04:00:22.693Z,1761537622.693 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:22.716Z,1761537622.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T04:00:22.736Z,1761537622.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.997154 m, nav range: 44.117664 m, bearing: 41.470500 deg, approach rate: -0.624503 m/s, LOS rate: 0.035533 deg/s, cmd heading: 41.509276 deg, new cmd heading: 41.558558 deg. 2025-10-27T04:00:22.736Z,1761537622.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725334 target range: 48.997154 and range: 49.20 m. 2025-10-27T04:00:22.944Z,1761537622.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:23.042Z,1761537623.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721824,-0.667989,-0.181001],[0.687726,0.721600,0.079536],[0.077481,-0.181890,0.980261]] 2025-10-27T04:00:23.061Z,1761537623.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T04:00:23.064Z,1761537623.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.997154 m, nav range: 43.896973 m, bearing: 41.483808 deg, approach rate: -0.638448 m/s, LOS rate: 0.038693 deg/s, cmd heading: 41.558559 deg, new cmd heading: 41.598684 deg. 2025-10-27T04:00:23.064Z,1761537623.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.726034 target range: 48.997154 and range: 49.20 m. 2025-10-27T04:00:23.196Z,1761537623.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:23.441Z,1761537623.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723839,-0.665742,-0.181231],[0.685658,0.723377,0.081239],[0.077015,-0.183066,0.980079]] 2025-10-27T04:00:23.448Z,1761537623.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:23.461Z,1761537623.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T04:00:23.476Z,1761537623.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.997154 m, nav range: 43.644562 m, bearing: 41.500133 deg, approach rate: -0.629923 m/s, LOS rate: 0.040977 deg/s, cmd heading: 41.598683 deg, new cmd heading: 41.647942 deg. 2025-10-27T04:00:23.477Z,1761537623.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.726894 target range: 48.997154 and range: 49.20 m. 2025-10-27T04:00:23.700Z,1761537623.700 [DAT](INFO): DAT read: Rx Time:04:00:22.2479 2025-10-27T04:00:23.701Z,1761537623.701 [DAT](INFO): Rx dataTimestamp_ set to:1761537623.700576 2025-10-27T04:00:23.701Z,1761537623.701 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:23.848Z,1761537623.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725688,-0.663961,-0.180367],[0.683741,0.725154,0.081550],[0.076648,-0.182504,0.980213]] 2025-10-27T04:00:23.882Z,1761537623.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:23.900Z,1761537623.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T04:00:23.910Z,1761537623.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.997154 m, nav range: 43.376888 m, bearing: 41.502263 deg, approach rate: -0.609825 m/s, LOS rate: 0.004883 deg/s, cmd heading: 41.647942 deg, new cmd heading: 41.654372 deg. 2025-10-27T04:00:23.915Z,1761537623.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727006 target range: 48.997154 and range: 49.20 m. 2025-10-27T04:00:23.953Z,1761537623.953 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:24.210Z,1761537624.210 [DAT](INFO): DAT read: 04:00:22.2479 LVL= 31344, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.01, 2.767, 1.104,-3.129, 2.673, PHS= 0.197,-1.524, 0.438, RAW= 156.5, 9.6, CAL= 156.3, 10.4, ROT= 353.7, -10.4 2025-10-27T04:00:24.211Z,1761537624.211 [DAT](INFO): got valid direction response: 04:00:22.2479 LVL= 31344, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.01, 2.767, 1.104,-3.129, 2.673, PHS= 0.197,-1.524, 0.438, RAW= 156.5, 9.6, CAL= 156.3, 10.4, ROT= 353.7, -10.4 2025-10-27T04:00:24.212Z,1761537624.212 [DAT](INFO): DAT read: Bearing 215.7, -3.6 (Local) 2025-10-27T04:00:24.213Z,1761537624.213 [DAT](INFO): Local bearing/azimuth received: Bearing 215.7, -3.6 (Local) 2025-10-27T04:00:24.214Z,1761537624.214 [DAT](INFO): DAT read: Range 11 to 50 : 46.9 m (Round-trip 62.6 ms) speed 0.6 m/s 2025-10-27T04:00:24.215Z,1761537624.215 [DAT](INFO): DAT read: user:38>Tx time:04:00:23.3311 2025-10-27T04:00:24.216Z,1761537624.216 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:00:24.217Z,1761537624.217 [DAT](INFO): direction in FSK: [0.977632,-0.107931,0.180519] 2025-10-27T04:00:24.217Z,1761537624.217 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:24.220Z,1761537624.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:24.221Z,1761537624.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:24.250Z,1761537624.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727164,-0.662368,-0.180277],[0.682215,0.726471,0.082599],[0.076255,-0.183051,0.980142]] 2025-10-27T04:00:24.365Z,1761537624.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.900002 m, deltaT: 3.528026 s, deltaX: -2.299999 m, approachRate: -0.651922 m/s, rangeRepo size: 4 2025-10-27T04:00:24.372Z,1761537624.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.706421 m, bearing: 38.826198 deg, lat: 36.779354 deg, lon: -121.859558 deg, deltaT: 3.528026 s, deltaX: -2.290733 m, approachRate: -0.649296 m/s, posRepo size: 4 2025-10-27T04:00:24.372Z,1761537624.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m. 2025-10-27T04:00:24.379Z,1761537624.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.706421 m, nav range: 43.402164 m, bearing: 40.496049 deg, approach rate: 0.000000 m/s, LOS rate: 0.004883 deg/s, cmd heading: 41.654373 deg, new cmd heading: 41.661171 deg. 2025-10-27T04:00:24.380Z,1761537624.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727125 target range: 46.706421 and range: 46.90 m. 2025-10-27T04:00:24.456Z,1761537624.456 [DAT](INFO): DAT read: 2025-10-27T04:00:24.456Z,1761537624.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:24.708Z,1761537624.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:24.712Z,1761537624.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728676,-0.660639,-0.180521],[0.680641,0.727786,0.083992],[0.075892,-0.184073,0.979978]] 2025-10-27T04:00:24.774Z,1761537624.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m. 2025-10-27T04:00:24.799Z,1761537624.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.706421 m, nav range: 43.116783 m, bearing: 40.472585 deg, approach rate: -0.698339 m/s, LOS rate: -0.057797 deg/s, cmd heading: 41.661173 deg, new cmd heading: 41.590316 deg. 2025-10-27T04:00:24.800Z,1761537624.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725888 target range: 46.706421 and range: 46.90 m. 2025-10-27T04:00:24.960Z,1761537624.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:25.106Z,1761537625.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730075,-0.659102,-0.180486],[0.679171,0.729050,0.084924],[0.075610,-0.184582,0.979904]] 2025-10-27T04:00:25.143Z,1761537625.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m. 2025-10-27T04:00:25.146Z,1761537625.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.706421 m, nav range: 42.889244 m, bearing: 40.454258 deg, approach rate: -0.614276 m/s, LOS rate: -0.049738 deg/s, cmd heading: 41.590316 deg, new cmd heading: 41.535045 deg. 2025-10-27T04:00:25.155Z,1761537625.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724923 target range: 46.706421 and range: 46.90 m. 2025-10-27T04:00:25.212Z,1761537625.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:25.464Z,1761537625.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:25.510Z,1761537625.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731365,-0.657897,-0.179659],[0.677851,0.730219,0.085426],[0.074989,-0.184260,0.980013]] 2025-10-27T04:00:25.533Z,1761537625.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m. 2025-10-27T04:00:25.536Z,1761537625.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.706421 m, nav range: 42.631145 m, bearing: 40.433889 deg, approach rate: -0.662093 m/s, LOS rate: -0.052569 deg/s, cmd heading: 41.535043 deg, new cmd heading: 41.473566 deg. 2025-10-27T04:00:25.537Z,1761537625.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723850 target range: 46.706421 and range: 46.90 m. 2025-10-27T04:00:25.718Z,1761537625.718 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:25.914Z,1761537625.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732167,-0.657049,-0.179495],[0.677052,0.730841,0.086446],[0.074383,-0.184821,0.979953]] 2025-10-27T04:00:25.968Z,1761537625.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:25.969Z,1761537625.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:25.987Z,1761537625.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m. 2025-10-27T04:00:25.990Z,1761537625.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.706421 m, nav range: 42.337570 m, bearing: 40.385519 deg, approach rate: -0.670361 m/s, LOS rate: -0.111216 deg/s, cmd heading: 41.473564 deg, new cmd heading: 41.327448 deg. 2025-10-27T04:00:25.999Z,1761537625.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721300 target range: 46.706421 and range: 46.90 m. 2025-10-27T04:00:26.220Z,1761537626.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:26.320Z,1761537626.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732255,-0.657351,-0.178024],[0.677000,0.731008,0.085425],[0.073983,-0.183075,0.980311]] 2025-10-27T04:00:26.342Z,1761537626.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m. 2025-10-27T04:00:26.345Z,1761537626.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.706421 m, nav range: 42.089504 m, bearing: 40.344201 deg, approach rate: -0.668364 m/s, LOS rate: -0.111980 deg/s, cmd heading: 41.327450 deg, new cmd heading: 41.202764 deg. 2025-10-27T04:00:26.346Z,1761537626.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719124 target range: 46.706421 and range: 46.90 m. 2025-10-27T04:00:26.472Z,1761537626.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:26.724Z,1761537626.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:26.743Z,1761537626.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731765,-0.658456,-0.175943],[0.677621,0.730582,0.084140],[0.073138,-0.180794,0.980798]] 2025-10-27T04:00:26.816Z,1761537626.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m. 2025-10-27T04:00:26.818Z,1761537626.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.706421 m, nav range: 41.781693 m, bearing: 40.271603 deg, approach rate: -0.650164 m/s, LOS rate: -0.154472 deg/s, cmd heading: 41.202764 deg, new cmd heading: 40.983367 deg. 2025-10-27T04:00:26.824Z,1761537626.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715295 target range: 46.706421 and range: 46.90 m. 2025-10-27T04:00:26.976Z,1761537626.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:27.154Z,1761537627.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731304,-0.659194,-0.175091],[0.678189,0.730075,0.083963],[0.072482,-0.180148,0.980965]] 2025-10-27T04:00:27.173Z,1761537627.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m. 2025-10-27T04:00:27.176Z,1761537627.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.706421 m, nav range: 41.520142 m, bearing: 40.208798 deg, approach rate: -0.732525 m/s, LOS rate: -0.177008 deg/s, cmd heading: 40.983368 deg, new cmd heading: 40.793765 deg. 2025-10-27T04:00:27.177Z,1761537627.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.711986 target range: 46.706421 and range: 46.90 m. 2025-10-27T04:00:27.229Z,1761537627.229 [DAT](INFO): DAT read: Rx Time:04:00:25.7950 2025-10-27T04:00:27.229Z,1761537627.229 [DAT](INFO): Rx dataTimestamp_ set to:1761537627.229092 2025-10-27T04:00:27.230Z,1761537627.230 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:27.480Z,1761537627.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:27.551Z,1761537627.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730748,-0.659873,-0.174857],[0.678818,0.729499,0.083888],[0.072203,-0.179997,0.981014]] 2025-10-27T04:00:27.575Z,1761537627.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.71 m. 2025-10-27T04:00:27.578Z,1761537627.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.706421 m, nav range: 41.244644 m, bearing: 40.141439 deg, approach rate: -0.685215 m/s, LOS rate: -0.168652 deg/s, cmd heading: 40.793766 deg, new cmd heading: 40.590342 deg. 2025-10-27T04:00:27.579Z,1761537627.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708435 target range: 46.706421 and range: 46.90 m. 2025-10-27T04:00:27.768Z,1761537627.768 [DAT](INFO): DAT read: 04:00:25.7950 LVL= 32752, 32753, 31522, 32755, AGC= 70, IDX= 415, 0.41,-2.191, 2.420,-1.842,-2.257, PHS= 0.168,-1.561, 0.370, RAW= 155.5, 11.1, CAL= 155.5, 12.3, ROT= 354.5, -12.3 2025-10-27T04:00:27.770Z,1761537627.770 [DAT](INFO): got valid direction response: 04:00:25.7950 LVL= 32752, 32753, 31522, 32755, AGC= 70, IDX= 415, 0.41,-2.191, 2.420,-1.842,-2.257, PHS= 0.168,-1.561, 0.370, RAW= 155.5, 11.1, CAL= 155.5, 12.3, ROT= 354.5, -12.3 2025-10-27T04:00:27.785Z,1761537627.785 [DAT](INFO): DAT read: Bearing 215.5, -3.2 (Local) 2025-10-27T04:00:27.785Z,1761537627.785 [DAT](INFO): Local bearing/azimuth received: Bearing 215.5, -3.2 (Local) 2025-10-27T04:00:27.793Z,1761537627.793 [DAT](INFO): DAT read: Range 11 to 50 : 44.7 m (Round-trip 59.7 ms) speed 0.5 m/s 2025-10-27T04:00:27.799Z,1761537627.799 [DAT](INFO): DAT read: user:39>Tx time:04:00:26.8811 2025-10-27T04:00:27.800Z,1761537627.800 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:00:27.801Z,1761537627.801 [DAT](INFO): direction in FSK: [0.972547,-0.093646,0.213030] 2025-10-27T04:00:27.801Z,1761537627.801 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:27.805Z,1761537627.805 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:27.805Z,1761537627.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:27.954Z,1761537627.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730021,-0.660753,-0.174571],[0.679653,0.728707,0.084013],[0.071700,-0.179979,0.981054]] 2025-10-27T04:00:27.984Z,1761537627.984 [DAT](INFO): DAT read: 2025-10-27T04:00:27.984Z,1761537627.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:28.028Z,1761537628.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: 3.530581 s, deltaX: -2.200001 m, approachRate: -0.623127 m/s, rangeRepo size: 4 2025-10-27T04:00:28.030Z,1761537628.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 44.515038 m, bearing: 39.733148 deg, lat: 36.779366 deg, lon: -121.859558 deg, deltaT: 3.530581 s, deltaX: -2.191383 m, approachRate: -0.620686 m/s, posRepo size: 4 2025-10-27T04:00:28.030Z,1761537628.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m. 2025-10-27T04:00:28.037Z,1761537628.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.515038 m, nav range: 42.002834 m, bearing: 38.866525 deg, approach rate: 0.000000 m/s, LOS rate: -0.168652 deg/s, cmd heading: 40.590342 deg, new cmd heading: 40.373799 deg. 2025-10-27T04:00:28.038Z,1761537628.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.704656 target range: 44.515038 and range: 44.70 m. 2025-10-27T04:00:28.238Z,1761537628.238 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:28.357Z,1761537628.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729069,-0.661736,-0.174826],[0.680702,0.727694,0.084295],[0.071439,-0.180461,0.980984]] 2025-10-27T04:00:28.374Z,1761537628.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:28.376Z,1761537628.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m. 2025-10-27T04:00:28.379Z,1761537628.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.515038 m, nav range: 41.744133 m, bearing: 38.788005 deg, approach rate: -0.692683 m/s, LOS rate: -0.211543 deg/s, cmd heading: 40.373798 deg, new cmd heading: 40.136780 deg. 2025-10-27T04:00:28.380Z,1761537628.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.700519 target range: 44.515038 and range: 44.70 m. 2025-10-27T04:00:28.489Z,1761537628.489 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:28.742Z,1761537628.742 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:28.770Z,1761537628.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728282,-0.662554,-0.175007],[0.681557,0.726885,0.084370],[0.071310,-0.180723,0.980946]] 2025-10-27T04:00:28.823Z,1761537628.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m. 2025-10-27T04:00:28.826Z,1761537628.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.515038 m, nav range: 41.432507 m, bearing: 38.704703 deg, approach rate: -0.698454 m/s, LOS rate: -0.188111 deg/s, cmd heading: 40.136780 deg, new cmd heading: 39.884995 deg. 2025-10-27T04:00:28.826Z,1761537628.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.696124 target range: 44.515038 and range: 44.70 m. 2025-10-27T04:00:28.992Z,1761537628.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:29.165Z,1761537629.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728002,-0.662941,-0.174704],[0.681875,0.726608,0.084184],[0.071132,-0.180413,0.981016]] 2025-10-27T04:00:29.183Z,1761537629.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m. 2025-10-27T04:00:29.186Z,1761537629.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.515038 m, nav range: 41.180649 m, bearing: 38.636280 deg, approach rate: -0.697856 m/s, LOS rate: -0.190749 deg/s, cmd heading: 39.884996 deg, new cmd heading: 39.678472 deg. 2025-10-27T04:00:29.187Z,1761537629.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.692520 target range: 44.515038 and range: 44.70 m. 2025-10-27T04:00:29.245Z,1761537629.245 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:29.496Z,1761537629.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:29.569Z,1761537629.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727417,-0.663621,-0.174562],[0.682495,0.726076,0.083749],[0.071168,-0.180058,0.981078]] 2025-10-27T04:00:29.607Z,1761537629.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m. 2025-10-27T04:00:29.610Z,1761537629.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.515038 m, nav range: 40.885307 m, bearing: 38.554574 deg, approach rate: -0.697569 m/s, LOS rate: -0.194376 deg/s, cmd heading: 39.678471 deg, new cmd heading: 39.431584 deg. 2025-10-27T04:00:29.611Z,1761537629.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688211 target range: 44.515038 and range: 44.70 m. 2025-10-27T04:00:29.750Z,1761537629.750 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:29.974Z,1761537629.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727573,-0.663272,-0.175237],[0.682342,0.726106,0.084729],[0.071042,-0.181219,0.980873]] 2025-10-27T04:00:29.000Z,1761537630.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:30.025Z,1761537630.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m. 2025-10-27T04:00:30.028Z,1761537630.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.515038 m, nav range: 40.599892 m, bearing: 38.495820 deg, approach rate: -0.682638 m/s, LOS rate: -0.141511 deg/s, cmd heading: 39.431584 deg, new cmd heading: 39.254084 deg. 2025-10-27T04:00:30.029Z,1761537630.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685113 target range: 44.515038 and range: 44.70 m. 2025-10-27T04:00:30.252Z,1761537630.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:30.379Z,1761537630.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728137,-0.662327,-0.176462],[0.681739,0.726490,0.086280],[0.071052,-0.183125,0.980519]] 2025-10-27T04:00:30.402Z,1761537630.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:30.405Z,1761537630.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m. 2025-10-27T04:00:30.408Z,1761537630.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.515038 m, nav range: 40.340839 m, bearing: 38.442125 deg, approach rate: -0.682016 m/s, LOS rate: -0.142272 deg/s, cmd heading: 39.254084 deg, new cmd heading: 39.091965 deg. 2025-10-27T04:00:30.409Z,1761537630.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682284 target range: 44.515038 and range: 44.70 m. 2025-10-27T04:00:30.504Z,1761537630.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:30.760Z,1761537630.760 [DAT](INFO): DAT read: Rx Time:04:00:29.3419 2025-10-27T04:00:30.762Z,1761537630.762 [DAT](INFO): Rx dataTimestamp_ set to:1761537630.760894 2025-10-27T04:00:30.763Z,1761537630.763 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:30.807Z,1761537630.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728896,-0.661353,-0.176982],[0.680896,0.727228,0.086719],[0.071354,-0.183715,0.980386]] 2025-10-27T04:00:30.850Z,1761537630.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m. 2025-10-27T04:00:30.853Z,1761537630.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.515038 m, nav range: 40.041687 m, bearing: 38.406011 deg, approach rate: -0.671673 m/s, LOS rate: -0.081690 deg/s, cmd heading: 39.091966 deg, new cmd heading: 38.982816 deg. 2025-10-27T04:00:30.854Z,1761537630.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680378 target range: 44.515038 and range: 44.70 m. 2025-10-27T04:00:31.008Z,1761537631.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:31.211Z,1761537631.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730186,-0.659308,-0.179277],[0.679463,0.728278,0.089109],[0.071813,-0.186878,0.979755]] 2025-10-27T04:00:31.240Z,1761537631.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.52 m. 2025-10-27T04:00:31.243Z,1761537631.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.515038 m, nav range: 39.779797 m, bearing: 38.374767 deg, approach rate: -0.671448 m/s, LOS rate: -0.080634 deg/s, cmd heading: 38.982816 deg, new cmd heading: 38.888466 deg. 2025-10-27T04:00:31.244Z,1761537631.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678732 target range: 44.515038 and range: 44.70 m. 2025-10-27T04:00:31.285Z,1761537631.285 [DAT](INFO): DAT read: 04:00:29.3419 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.14, 3.029, 1.426,-2.891, 3.027, PHS= 0.104,-1.556, 0.321, RAW= 156.0, 12.7, CAL= 156.3, 14.2, ROT= 353.7, -14.2 2025-10-27T04:00:31.286Z,1761537631.286 [DAT](INFO): got valid direction response: 04:00:29.3419 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.14, 3.029, 1.426,-2.891, 3.027, PHS= 0.104,-1.556, 0.321, RAW= 156.0, 12.7, CAL= 156.3, 14.2, ROT= 353.7, -14.2 2025-10-27T04:00:31.287Z,1761537631.287 [DAT](INFO): DAT read: Bearing 215.6, -4.8 (Local) 2025-10-27T04:00:31.288Z,1761537631.288 [DAT](INFO): Local bearing/azimuth received: Bearing 215.6, -4.8 (Local) 2025-10-27T04:00:31.289Z,1761537631.289 [DAT](INFO): DAT read: Range 11 to 50 : 42.5 m (Round-trip 56.7 ms) speed 0.7 m/s 2025-10-27T04:00:31.290Z,1761537631.290 [DAT](INFO): DAT read: user:40>Tx time:04:00:30.4311 2025-10-27T04:00:31.299Z,1761537631.299 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:00:31.300Z,1761537631.300 [DAT](INFO): direction in FSK: [0.963591,-0.106381,0.245307] 2025-10-27T04:00:31.301Z,1761537631.301 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:31.313Z,1761537631.313 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:31.314Z,1761537631.314 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:31.348Z,1761537631.348 [DockingStepper](ERROR): only read 3 of 4 ADC values. Response is: ÿ/0`16,12287,16252 2025-10-27T04:00:31.348Z,1761537631.348 [DockingStepper](FAULT): Docking arm not reporting position 2025-10-27T04:00:31.348Z,1761537631.348 [DockingStepper] Communications Fault, FailCount= 1 2025-10-27T04:00:31.348Z,1761537631.348 [DockingStepper](ERROR): Communications Fault 2025-10-27T04:00:31.498Z,1761537631.498 [CBIT](ERROR): Communications Fault in component: DockingStepper 2025-10-27T04:00:31.512Z,1761537631.512 [DAT](INFO): DAT read: 2025-10-27T04:00:31.512Z,1761537631.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:31.590Z,1761537631.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732360,-0.656599,-0.180350],[0.677080,0.730304,0.090652],[0.072188,-0.188501,0.979416]] 2025-10-27T04:00:31.624Z,1761537631.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.500000 m, deltaT: 3.526135 s, deltaX: -2.200001 m, approachRate: -0.623913 m/s, rangeRepo size: 4 2025-10-27T04:00:31.626Z,1761537631.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.324028 m, bearing: 39.225309 deg, lat: 36.779366 deg, lon: -121.859550 deg, deltaT: 3.526135 s, deltaX: -2.191010 m, approachRate: -0.621363 m/s, posRepo size: 4 2025-10-27T04:00:31.627Z,1761537631.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.32 m. 2025-10-27T04:00:31.629Z,1761537631.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.324028 m, nav range: 39.991673 m, bearing: 39.182247 deg, approach rate: 0.000000 m/s, LOS rate: -0.080634 deg/s, cmd heading: 38.888464 deg, new cmd heading: 38.795797 deg. 2025-10-27T04:00:31.630Z,1761537631.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677114 target range: 42.324028 and range: 42.50 m. 2025-10-27T04:00:31.768Z,1761537631.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:31.794Z,1761537631.794 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T04:00:31.794Z,1761537631.794 [DockingStepper](INFO): Powering down 2025-10-27T04:00:32.004Z,1761537632.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734715,-0.653665,-0.181427],[0.674492,0.732477,0.092401],[0.072492,-0.190260,0.979054]] 2025-10-27T04:00:32.016Z,1761537632.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:32.046Z,1761537632.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.32 m. 2025-10-27T04:00:32.069Z,1761537632.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.324028 m, nav range: 39.719597 m, bearing: 39.175976 deg, approach rate: -0.642968 m/s, LOS rate: -0.014922 deg/s, cmd heading: 38.795796 deg, new cmd heading: 38.776852 deg. 2025-10-27T04:00:32.070Z,1761537632.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676784 target range: 42.324028 and range: 42.50 m. 2025-10-27T04:00:32.269Z,1761537632.269 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:32.399Z,1761537632.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737126,-0.650783,-0.182008],[0.671813,0.734795,0.093508],[0.072886,-0.191203,0.978841]] 2025-10-27T04:00:32.437Z,1761537632.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:32.440Z,1761537632.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.32 m. 2025-10-27T04:00:32.442Z,1761537632.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.324028 m, nav range: 39.479671 m, bearing: 39.171649 deg, approach rate: -0.610050 m/s, LOS rate: -0.011070 deg/s, cmd heading: 38.776852 deg, new cmd heading: 38.763791 deg. 2025-10-27T04:00:32.443Z,1761537632.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676556 target range: 42.324028 and range: 42.50 m. 2025-10-27T04:00:32.520Z,1761537632.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:32.774Z,1761537632.774 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:32.827Z,1761537632.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739908,-0.647265,-0.183258],[0.668721,0.737320,0.095771],[0.073131,-0.193410,0.978389]] 2025-10-27T04:00:32.870Z,1761537632.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.32 m. 2025-10-27T04:00:32.872Z,1761537632.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.324028 m, nav range: 39.205894 m, bearing: 39.183294 deg, approach rate: -0.636904 m/s, LOS rate: 0.027280 deg/s, cmd heading: 38.763793 deg, new cmd heading: 38.798972 deg. 2025-10-27T04:00:32.873Z,1761537632.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677170 target range: 42.324028 and range: 42.50 m. 2025-10-27T04:00:33.024Z,1761537633.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:33.227Z,1761537633.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742929,-0.643614,-0.183898],[0.665324,0.740188,0.097297],[0.073497,-0.194636,0.978118]] 2025-10-27T04:00:33.254Z,1761537633.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.32 m. 2025-10-27T04:00:33.260Z,1761537633.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.324028 m, nav range: 38.972832 m, bearing: 39.194901 deg, approach rate: -0.607545 m/s, LOS rate: 0.030440 deg/s, cmd heading: 38.798972 deg, new cmd heading: 38.834003 deg. 2025-10-27T04:00:33.261Z,1761537633.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677781 target range: 42.324028 and range: 42.50 m. 2025-10-27T04:00:33.277Z,1761537633.277 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:33.528Z,1761537633.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:33.629Z,1761537633.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746094,-0.639772,-0.184487],[0.661713,0.743244,0.098617],[0.074026,-0.195655,0.977875]] 2025-10-27T04:00:33.659Z,1761537633.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.32 m. 2025-10-27T04:00:33.662Z,1761537633.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.324028 m, nav range: 38.721935 m, bearing: 39.209346 deg, approach rate: -0.618083 m/s, LOS rate: 0.035814 deg/s, cmd heading: 38.834004 deg, new cmd heading: 38.877617 deg. 2025-10-27T04:00:33.663Z,1761537633.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678542 target range: 42.324028 and range: 42.50 m. 2025-10-27T04:00:33.782Z,1761537633.782 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:34.032Z,1761537634.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:34.035Z,1761537634.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749005,-0.636095,-0.185403],[0.658347,0.746027,0.100112],[0.074635,-0.197044,0.977550]] 2025-10-27T04:00:34.092Z,1761537634.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.32 m. 2025-10-27T04:00:34.100Z,1761537634.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.324028 m, nav range: 38.463268 m, bearing: 39.232210 deg, approach rate: -0.596996 m/s, LOS rate: 0.053125 deg/s, cmd heading: 38.877618 deg, new cmd heading: 38.946672 deg. 2025-10-27T04:00:34.101Z,1761537634.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.679748 target range: 42.324028 and range: 42.50 m. 2025-10-27T04:00:34.285Z,1761537634.285 [DAT](INFO): DAT read: Rx Time:04:00:32.8889 2025-10-27T04:00:34.286Z,1761537634.286 [DAT](INFO): Rx dataTimestamp_ set to:1761537634.285822 2025-10-27T04:00:34.287Z,1761537634.287 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:34.439Z,1761537634.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751818,-0.632757,-0.185443],[0.655075,0.748824,0.100697],[0.075147,-0.197185,0.977482]] 2025-10-27T04:00:34.456Z,1761537634.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:34.458Z,1761537634.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.32 m. 2025-10-27T04:00:34.461Z,1761537634.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.324028 m, nav range: 38.236519 m, bearing: 39.253984 deg, approach rate: -0.619810 m/s, LOS rate: 0.059871 deg/s, cmd heading: 38.946671 deg, new cmd heading: 39.012380 deg. 2025-10-27T04:00:34.462Z,1761537634.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680894 target range: 42.324028 and range: 42.50 m. 2025-10-27T04:00:34.536Z,1761537634.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:34.808Z,1761537634.808 [DAT](INFO): DAT read: 04:00:32.8889 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.18, 2.667, 1.025, 2.966, 2.632, PHS= 0.137,-1.562, 0.289, RAW= 154.3, 12.7, CAL= 154.4, 14.2, ROT= 355.6, -14.2 2025-10-27T04:00:34.812Z,1761537634.812 [DAT](INFO): got valid direction response: 04:00:32.8889 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.18, 2.667, 1.025, 2.966, 2.632, PHS= 0.137,-1.562, 0.289, RAW= 154.3, 12.7, CAL= 154.4, 14.2, ROT= 355.6, -14.2 2025-10-27T04:00:34.816Z,1761537634.816 [DAT](INFO): DAT read: Bearing 213.9, -2.8 (Local) 2025-10-27T04:00:34.817Z,1761537634.817 [DAT](INFO): Local bearing/azimuth received: Bearing 213.9, -2.8 (Local) 2025-10-27T04:00:34.822Z,1761537634.822 [DAT](INFO): DAT read: Range 11 to 50 : 40.2 m (Round-trip 53.7 ms) speed 0.3 m/s 2025-10-27T04:00:34.826Z,1761537634.826 [DAT](INFO): DAT read: user:41>Tx time:04:00:33.9811 2025-10-27T04:00:34.857Z,1761537634.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754271,-0.629522,-0.186488],[0.652148,0.751228,0.101785],[0.076019,-0.198392,0.977170]] 2025-10-27T04:00:34.871Z,1761537634.871 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:00:34.872Z,1761537634.872 [DAT](INFO): direction in FSK: [0.966588,-0.074375,0.245307] 2025-10-27T04:00:34.873Z,1761537634.873 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:34.888Z,1761537634.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:34.889Z,1761537634.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:35.040Z,1761537635.040 [DAT](INFO): DAT read: 2025-10-27T04:00:35.040Z,1761537635.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:35.110Z,1761537635.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.200001 m, deltaT: 3.528838 s, deltaX: -2.299999 m, approachRate: -0.651772 m/s, rangeRepo size: 4 2025-10-27T04:00:35.116Z,1761537635.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.033646 m, bearing: 39.386324 deg, lat: 36.779366 deg, lon: -121.859550 deg, deltaT: 3.528838 s, deltaX: -2.290382 m, approachRate: -0.649047 m/s, posRepo size: 4 2025-10-27T04:00:35.118Z,1761537635.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.03 m. 2025-10-27T04:00:35.129Z,1761537635.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.033646 m, nav range: 37.920963 m, bearing: 39.260667 deg, approach rate: 0.000000 m/s, LOS rate: 0.059871 deg/s, cmd heading: 39.012381 deg, new cmd heading: 39.129300 deg. 2025-10-27T04:00:35.130Z,1761537635.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682935 target range: 40.033646 and range: 40.20 m. 2025-10-27T04:00:35.292Z,1761537635.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:35.390Z,1761537635.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756826,-0.626491,-0.186342],[0.649098,0.753867,0.101767],[0.076721,-0.197974,0.977200]] 2025-10-27T04:00:35.408Z,1761537635.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.03 m. 2025-10-27T04:00:35.411Z,1761537635.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.033646 m, nav range: 37.663826 m, bearing: 39.276702 deg, approach rate: -0.859537 m/s, LOS rate: 0.053967 deg/s, cmd heading: 39.129300 deg, new cmd heading: 39.177734 deg. 2025-10-27T04:00:35.412Z,1761537635.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683780 target range: 40.033646 and range: 40.20 m. 2025-10-27T04:00:35.544Z,1761537635.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:35.794Z,1761537635.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759050,-0.623984,-0.185704],[0.646420,0.756253,0.101106],[0.077351,-0.196787,0.977390]] 2025-10-27T04:00:35.796Z,1761537635.796 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:35.883Z,1761537635.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.03 m. 2025-10-27T04:00:35.886Z,1761537635.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.033646 m, nav range: 37.390099 m, bearing: 39.295520 deg, approach rate: -0.581494 m/s, LOS rate: 0.040267 deg/s, cmd heading: 39.177733 deg, new cmd heading: 39.234598 deg. 2025-10-27T04:00:35.899Z,1761537635.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684773 target range: 40.033646 and range: 40.20 m. 2025-10-27T04:00:36.048Z,1761537636.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:36.196Z,1761537636.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760885,-0.621936,-0.185066],[0.644165,0.758320,0.100011],[0.078139,-0.195310,0.977624]] 2025-10-27T04:00:36.262Z,1761537636.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.03 m. 2025-10-27T04:00:36.276Z,1761537636.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.033646 m, nav range: 37.167934 m, bearing: 39.300944 deg, approach rate: -0.579781 m/s, LOS rate: 0.014240 deg/s, cmd heading: 39.234598 deg, new cmd heading: 39.250967 deg. 2025-10-27T04:00:36.277Z,1761537636.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685059 target range: 40.033646 and range: 40.20 m. 2025-10-27T04:00:36.300Z,1761537636.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:36.552Z,1761537636.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:36.597Z,1761537636.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762828,-0.619713,-0.184525],[0.641792,0.760410,0.099394],[0.078719,-0.194247,0.977789]] 2025-10-27T04:00:36.623Z,1761537636.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:36.625Z,1761537636.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.03 m. 2025-10-27T04:00:36.628Z,1761537636.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.033646 m, nav range: 36.928841 m, bearing: 39.308028 deg, approach rate: -0.658459 m/s, LOS rate: 0.019637 deg/s, cmd heading: 39.250966 deg, new cmd heading: 39.272358 deg. 2025-10-27T04:00:36.629Z,1761537636.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685432 target range: 40.033646 and range: 40.20 m. 2025-10-27T04:00:36.807Z,1761537636.807 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:37.007Z,1761537637.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764095,-0.618435,-0.183566],[0.640196,0.761966,0.097755],[0.079416,-0.192212,0.978135]] 2025-10-27T04:00:37.056Z,1761537637.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:37.070Z,1761537637.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.03 m. 2025-10-27T04:00:37.076Z,1761537637.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.033646 m, nav range: 36.662872 m, bearing: 39.299331 deg, approach rate: -0.598637 m/s, LOS rate: -0.019719 deg/s, cmd heading: 39.272358 deg, new cmd heading: 39.246076 deg. 2025-10-27T04:00:37.077Z,1761537637.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684973 target range: 40.033646 and range: 40.20 m. 2025-10-27T04:00:37.308Z,1761537637.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:37.409Z,1761537637.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765126,-0.617309,-0.183064],[0.638925,0.763111,0.097141],[0.079731,-0.191289,0.978290]] 2025-10-27T04:00:37.437Z,1761537637.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.03 m. 2025-10-27T04:00:37.440Z,1761537637.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.033646 m, nav range: 36.426846 m, bearing: 39.292141 deg, approach rate: -0.642771 m/s, LOS rate: -0.019707 deg/s, cmd heading: 39.246076 deg, new cmd heading: 39.224367 deg. 2025-10-27T04:00:37.441Z,1761537637.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684594 target range: 40.033646 and range: 40.20 m. 2025-10-27T04:00:37.563Z,1761537637.563 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:37.812Z,1761537637.812 [DAT](INFO): DAT read: Rx Time:04:00:36.4362 2025-10-27T04:00:37.812Z,1761537637.812 [DAT](INFO): Rx dataTimestamp_ set to:1761537637.812165 2025-10-27T04:00:37.813Z,1761537637.813 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:37.820Z,1761537637.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765744,-0.616829,-0.182090],[0.638083,0.764085,0.094997],[0.080536,-0.188932,0.978682]] 2025-10-27T04:00:37.908Z,1761537637.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.03 m. 2025-10-27T04:00:37.915Z,1761537637.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.033646 m, nav range: 36.178497 m, bearing: 39.284955 deg, approach rate: -0.526730 m/s, LOS rate: -0.015344 deg/s, cmd heading: 39.224366 deg, new cmd heading: 39.202662 deg. 2025-10-27T04:00:37.916Z,1761537637.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.684216 target range: 40.033646 and range: 40.20 m. 2025-10-27T04:00:38.064Z,1761537638.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:38.322Z,1761537638.322 [DAT](INFO): DAT read: 04:00:36.4362 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.45, 1.484,-0.193, 1.658, 1.479, PHS= 0.107,-1.627, 0.135, RAW= 150.8, 15.6, CAL= 151.2, 17.5, ROT= 358.8, -17.5 2025-10-27T04:00:38.323Z,1761537638.323 [DAT](INFO): got valid direction response: 04:00:36.4362 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.45, 1.484,-0.193, 1.658, 1.479, PHS= 0.107,-1.627, 0.135, RAW= 150.8, 15.6, CAL= 151.2, 17.5, ROT= 358.8, -17.5 2025-10-27T04:00:38.324Z,1761537638.324 [DAT](INFO): DAT read: Bearing 216.0, -0.0 (Local) 2025-10-27T04:00:38.325Z,1761537638.325 [DAT](INFO): Local bearing/azimuth received: Bearing 216.0, -0.0 (Local) 2025-10-27T04:00:38.326Z,1761537638.326 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m (Round-trip 50.9 ms) speed 0.5 m/s 2025-10-27T04:00:38.327Z,1761537638.327 [DAT](INFO): DAT read: user:42>Tx time:04:00:37.5311 2025-10-27T04:00:38.328Z,1761537638.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:00:38.329Z,1761537638.329 [DAT](INFO): direction in FSK: [0.953508,-0.019973,0.300706] 2025-10-27T04:00:38.329Z,1761537638.329 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:38.332Z,1761537638.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:38.333Z,1761537638.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:00:38.361Z,1761537638.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765853,-0.616907,-0.181369],[0.637836,0.764568,0.092744],[0.081455,-0.186712,0.979032]] 2025-10-27T04:00:38.468Z,1761537638.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.099998 m, deltaT: 3.526734 s, deltaX: -2.100002 m, approachRate: -0.595452 m/s, rangeRepo size: 4 2025-10-27T04:00:38.470Z,1761537638.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.942226 m, bearing: 42.059466 deg, lat: 36.779365 deg, lon: -121.859550 deg, deltaT: 3.526734 s, deltaX: -2.091419 m, approachRate: -0.593019 m/s, posRepo size: 4 2025-10-27T04:00:38.470Z,1761537638.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:38.477Z,1761537638.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 35.757668 m, bearing: 39.304443 deg, approach rate: 0.000000 m/s, LOS rate: -0.015344 deg/s, cmd heading: 39.202663 deg, new cmd heading: 39.177131 deg. 2025-10-27T04:00:38.478Z,1761537638.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.683770 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:38.568Z,1761537638.568 [DAT](INFO): DAT read: 2025-10-27T04:00:38.568Z,1761537638.568 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:38.728Z,1761537638.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765684,-0.617249,-0.180920],[0.637858,0.764882,0.089956],[0.082857,-0.184279,0.979375]] 2025-10-27T04:00:38.767Z,1761537638.767 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T04:00:38.768Z,1761537638.768 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:00:38.768Z,1761537638.768 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T04:00:38.770Z,1761537638.770 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.099998 m (mode 2.000000 count ). 2025-10-27T04:00:38.771Z,1761537638.771 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T04:00:38.771Z,1761537638.771 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T04:00:38.772Z,1761537638.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:38.774Z,1761537638.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:38.777Z,1761537638.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 35.561928 m, bearing: 39.284472 deg, approach rate: -0.629700 m/s, LOS rate: -0.064602 deg/s, cmd heading: 39.177132 deg, new cmd heading: 39.116888 deg. 2025-10-27T04:00:38.778Z,1761537638.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.682719 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:38.821Z,1761537638.821 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:39.072Z,1761537639.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:39.187Z,1761537639.187 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T04:00:39.188Z,1761537639.188 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T04:00:39.190Z,1761537639.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:39.193Z,1761537639.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 35.284798 m, bearing: 39.245491 deg, approach rate: -0.666338 m/s, LOS rate: -0.094461 deg/s, cmd heading: 39.116890 deg, new cmd heading: 38.999031 deg. 2025-10-27T04:00:39.193Z,1761537639.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680661 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:39.328Z,1761537639.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:39.530Z,1761537639.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765324,-0.617442,-0.181779],[0.637866,0.765336,0.085950],[0.086053,-0.181730,0.979576]] 2025-10-27T04:00:39.576Z,1761537639.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:39.576Z,1761537639.576 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T04:00:39.576Z,1761537639.576 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T04:00:39.579Z,1761537639.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:39.585Z,1761537639.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 35.048561 m, bearing: 39.211708 deg, approach rate: -0.607504 m/s, LOS rate: -0.087463 deg/s, cmd heading: 38.999031 deg, new cmd heading: 38.896997 deg. 2025-10-27T04:00:39.586Z,1761537639.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.678881 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:39.828Z,1761537639.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:39.994Z,1761537639.994 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T04:00:39.994Z,1761537639.994 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:00:39.994Z,1761537639.994 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T04:00:39.994Z,1761537639.994 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:00:39.997Z,1761537639.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:39.000Z,1761537640.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 34.753487 m, bearing: 39.159161 deg, approach rate: -0.705618 m/s, LOS rate: -0.126724 deg/s, cmd heading: 38.896998 deg, new cmd heading: 38.738019 deg. 2025-10-27T04:00:40.001Z,1761537640.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.676106 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:40.080Z,1761537640.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:40.332Z,1761537640.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:40.348Z,1761537640.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763730,-0.619018,-0.183122],[0.639305,0.764606,0.081649],[0.089474,-0.179429,0.979694]] 2025-10-27T04:00:40.372Z,1761537640.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:40.375Z,1761537640.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 34.503384 m, bearing: 39.113017 deg, approach rate: -0.666488 m/s, LOS rate: -0.123858 deg/s, cmd heading: 38.738019 deg, new cmd heading: 38.598584 deg. 2025-10-27T04:00:40.376Z,1761537640.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.673672 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:40.584Z,1761537640.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:40.755Z,1761537640.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762443,-0.620258,-0.184286],[0.640410,0.764074,0.077885],[0.092499,-0.177402,0.979782]] 2025-10-27T04:00:40.784Z,1761537640.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:40.786Z,1761537640.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:40.789Z,1761537640.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 34.228230 m, bearing: 39.060682 deg, approach rate: -0.664192 m/s, LOS rate: -0.127346 deg/s, cmd heading: 38.598584 deg, new cmd heading: 38.440318 deg. 2025-10-27T04:00:40.790Z,1761537640.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.670910 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:40.836Z,1761537640.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:41.088Z,1761537641.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:41.153Z,1761537641.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761480,-0.620989,-0.185797],[0.641283,0.763484,0.076475],[0.094362,-0.177383,0.979608]] 2025-10-27T04:00:41.209Z,1761537641.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:41.216Z,1761537641.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 33.955074 m, bearing: 39.005736 deg, approach rate: -0.645963 m/s, LOS rate: -0.130984 deg/s, cmd heading: 38.440318 deg, new cmd heading: 38.274154 deg. 2025-10-27T04:00:41.217Z,1761537641.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668010 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:41.340Z,1761537641.340 [DAT](INFO): DAT read: Rx Time:04:00:39.9833 2025-10-27T04:00:41.340Z,1761537641.340 [DAT](INFO): Rx dataTimestamp_ set to:1761537641.340130 2025-10-27T04:00:41.341Z,1761537641.341 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:41.556Z,1761537641.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761040,-0.621198,-0.186900],[0.641520,0.763460,0.074707],[0.096283,-0.176756,0.979534]] 2025-10-27T04:00:41.578Z,1761537641.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:41.581Z,1761537641.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 33.694237 m, bearing: 38.952212 deg, approach rate: -0.707410 m/s, LOS rate: -0.146285 deg/s, cmd heading: 38.274153 deg, new cmd heading: 38.112339 deg. 2025-10-27T04:00:41.582Z,1761537641.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665186 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:41.592Z,1761537641.592 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:41.853Z,1761537641.853 [DAT](INFO): DAT read: 04:00:39.9833 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408,-0.00, 2.706, 0.892, 2.876, 2.663, PHS= 0.145,-1.726, 0.169, RAW= 150.6, 14.9, CAL= 150.9, 16.6, ROT= 359.1, -16.6 2025-10-27T04:00:41.854Z,1761537641.854 [DAT](INFO): got valid direction response: 04:00:39.9833 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408,-0.00, 2.706, 0.892, 2.876, 2.663, PHS= 0.145,-1.726, 0.169, RAW= 150.6, 14.9, CAL= 150.9, 16.6, ROT= 359.1, -16.6 2025-10-27T04:00:41.855Z,1761537641.855 [DAT](INFO): DAT read: Bearing 214.0, 1.1 (Local) 2025-10-27T04:00:41.856Z,1761537641.856 [DAT](INFO): Local bearing/azimuth received: Bearing 214.0, 1.1 (Local) 2025-10-27T04:00:41.856Z,1761537641.856 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:00:41.857Z,1761537641.857 [DAT](INFO): direction in FSK: [0.958204,-0.015053,0.285688] 2025-10-27T04:00:41.860Z,1761537641.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:00:41.983Z,1761537641.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760519,-0.621186,-0.189045],[0.641836,0.763255,0.074082],[0.098271,-0.177677,0.979170]] 2025-10-27T04:00:42.030Z,1761537642.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:42.033Z,1761537642.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 33.383682 m, bearing: 38.886358 deg, approach rate: -0.687557 m/s, LOS rate: -0.147154 deg/s, cmd heading: 38.112339 deg, new cmd heading: 37.912941 deg. 2025-10-27T04:00:42.033Z,1761537642.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.661706 target range: 37.942226 and range: 38.10 m. 2025-10-27T04:00:42.097Z,1761537642.097 [DAT](INFO): DAT read: Range 11 to 50 : 36.0 m (Round-trip 48.1 ms) speed 0.8 m/s 2025-10-27T04:00:42.098Z,1761537642.098 [DAT](INFO): DAT read: user:43>Tx time:04:00:41.0811 2025-10-27T04:00:42.099Z,1761537642.099 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T04:00:42.100Z,1761537642.100 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=41.040936 2025-10-27T04:00:42.349Z,1761537642.349 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=41.289719 2025-10-27T04:00:42.363Z,1761537642.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760091,-0.621172,-0.190807],[0.642073,0.763123,0.073391],[0.100021,-0.178296,0.978880]] 2025-10-27T04:00:42.389Z,1761537642.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 3.779931 s, deltaX: -2.099998 m, approachRate: -0.555565 m/s, rangeRepo size: 4 2025-10-27T04:00:42.390Z,1761537642.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:42.393Z,1761537642.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 33.138851 m, bearing: 38.833359 deg, approach rate: -0.682127 m/s, LOS rate: -0.148751 deg/s, cmd heading: 37.912942 deg, new cmd heading: 37.752773 deg. 2025-10-27T04:00:42.394Z,1761537642.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.658910 target range: 37.942226 and range: 36.00 m. 2025-10-27T04:00:42.600Z,1761537642.600 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=41.541065 2025-10-27T04:00:42.769Z,1761537642.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760018,-0.620439,-0.193463],[0.641858,0.763273,0.073703],[0.101937,-0.180191,0.978335]] 2025-10-27T04:00:42.801Z,1761537642.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:42.803Z,1761537642.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:42.806Z,1761537642.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 32.856930 m, bearing: 38.771398 deg, approach rate: -0.679991 m/s, LOS rate: -0.150731 deg/s, cmd heading: 37.752771 deg, new cmd heading: 37.565294 deg. 2025-10-27T04:00:42.807Z,1761537642.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.655638 target range: 37.942226 and range: 36.00 m. 2025-10-27T04:00:42.852Z,1761537642.852 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=41.793224 2025-10-27T04:00:43.104Z,1761537643.104 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=42.045139 2025-10-27T04:00:43.166Z,1761537643.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760153,-0.619415,-0.196195],[0.641365,0.763662,0.073964],[0.104012,-0.182056,0.977771]] 2025-10-27T04:00:43.214Z,1761537643.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:43.217Z,1761537643.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 32.576275 m, bearing: 38.713903 deg, approach rate: -0.682226 m/s, LOS rate: -0.140966 deg/s, cmd heading: 37.565293 deg, new cmd heading: 37.391321 deg. 2025-10-27T04:00:43.218Z,1761537643.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.652602 target range: 37.942226 and range: 36.00 m. 2025-10-27T04:00:43.356Z,1761537643.356 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=42.297077 2025-10-27T04:00:43.569Z,1761537643.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760650,-0.618202,-0.198089],[0.640516,0.764362,0.074099],[0.105603,-0.183242,0.977379]] 2025-10-27T04:00:43.608Z,1761537643.608 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=42.549355 2025-10-27T04:00:43.609Z,1761537643.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:43.612Z,1761537643.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 32.321629 m, bearing: 38.661317 deg, approach rate: -0.676337 m/s, LOS rate: -0.140770 deg/s, cmd heading: 37.391321 deg, new cmd heading: 37.232319 deg. 2025-10-27T04:00:43.613Z,1761537643.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649827 target range: 37.942226 and range: 36.00 m. 2025-10-27T04:00:43.860Z,1761537643.860 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=42.801205 2025-10-27T04:00:43.993Z,1761537643.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760970,-0.616892,-0.200917],[0.639812,0.764884,0.074792],[0.107540,-0.185464,0.976749]] 2025-10-27T04:00:44.036Z,1761537644.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:44.039Z,1761537644.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 32.016308 m, bearing: 38.610864 deg, approach rate: -0.685583 m/s, LOS rate: -0.114368 deg/s, cmd heading: 37.232317 deg, new cmd heading: 37.079518 deg. 2025-10-27T04:00:44.040Z,1761537644.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.647160 target range: 37.942226 and range: 36.00 m. 2025-10-27T04:00:44.112Z,1761537644.112 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=43.053219 2025-10-27T04:00:44.364Z,1761537644.364 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=43.305058 2025-10-27T04:00:44.385Z,1761537644.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761511,-0.615617,-0.202774],[0.638848,0.765722,0.074457],[0.109431,-0.186241,0.976391]] 2025-10-27T04:00:44.408Z,1761537644.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:44.411Z,1761537644.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 31.763432 m, bearing: 38.568846 deg, approach rate: -0.680314 m/s, LOS rate: -0.113942 deg/s, cmd heading: 37.079519 deg, new cmd heading: 36.952461 deg. 2025-10-27T04:00:44.412Z,1761537644.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644942 target range: 37.942226 and range: 36.00 m. 2025-10-27T04:00:44.616Z,1761537644.616 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=43.557117 2025-10-27T04:00:44.782Z,1761537644.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762385,-0.613789,-0.205016],[0.637521,0.766758,0.075164],[0.111063,-0.188006,0.975868]] 2025-10-27T04:00:44.814Z,1761537644.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:44.817Z,1761537644.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:44.819Z,1761537644.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 31.496691 m, bearing: 38.524581 deg, approach rate: -0.652818 m/s, LOS rate: -0.109252 deg/s, cmd heading: 36.952461 deg, new cmd heading: 36.818540 deg. 2025-10-27T04:00:44.820Z,1761537644.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642605 target range: 37.942226 and range: 36.00 m. 2025-10-27T04:00:44.868Z,1761537644.868 [DAT](INFO): DAT read: Rx Time:04:00:43.5303 2025-10-27T04:00:44.869Z,1761537644.869 [DAT](INFO): Rx dataTimestamp_ set to:1761537644.868284 2025-10-27T04:00:44.869Z,1761537644.869 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=43.810329 2025-10-27T04:00:45.120Z,1761537645.120 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=44.061367 2025-10-27T04:00:45.185Z,1761537645.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763524,-0.611726,-0.206936],[0.635903,0.768029,0.075888],[0.112511,-0.189533,0.975407]] 2025-10-27T04:00:45.249Z,1761537645.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m. 2025-10-27T04:00:45.254Z,1761537645.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.942226 m, nav range: 31.202013 m, bearing: 38.483033 deg, approach rate: -0.682492 m/s, LOS rate: -0.097137 deg/s, cmd heading: 36.818541 deg, new cmd heading: 36.692720 deg. 2025-10-27T04:00:45.257Z,1761537645.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640409 target range: 37.942226 and range: 36.00 m. 2025-10-27T04:00:45.386Z,1761537645.386 [DAT](INFO): DAT read: 04:00:43.5303 LVL= 32368, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.08, 2.742, 1.047, 2.934, 2.686, PHS= 0.157,-1.594, 0.204, RAW= 151.3, 13.8, CAL= 151.5, 15.4, ROT= 358.5, -15.4 2025-10-27T04:00:45.396Z,1761537645.396 [DAT](INFO): got valid direction response: 04:00:43.5303 LVL= 32368, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.08, 2.742, 1.047, 2.934, 2.686, PHS= 0.157,-1.594, 0.204, RAW= 151.3, 13.8, CAL= 151.5, 15.4, ROT= 358.5, -15.4 2025-10-27T04:00:45.397Z,1761537645.397 [DAT](INFO): DAT read: Bearing 210.7, 1.6 (Local) 2025-10-27T04:00:45.397Z,1761537645.397 [DAT](INFO): Local bearing/azimuth received: Bearing 210.7, 1.6 (Local) 2025-10-27T04:00:45.398Z,1761537645.398 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (Round-trip 45.1 ms) speed 0.5 m/s 2025-10-27T04:00:45.427Z,1761537645.427 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T04:00:45.428Z,1761537645.428 [DAT](INFO): direction in FSK: [0.963765,-0.025237,0.265556] 2025-10-27T04:00:45.429Z,1761537645.429 [DAT](INFO): publishing direction and range info 2025-10-27T04:00:45.438Z,1761537645.438 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=44.378677 2025-10-27T04:00:45.589Z,1761537645.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764034,-0.610335,-0.209150],[0.634938,0.768827,0.075885],[0.114485,-0.190776,0.974935]] 2025-10-27T04:00:45.624Z,1761537645.624 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=44.565197 2025-10-27T04:00:45.640Z,1761537645.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 3.277396 s, deltaX: -2.200001 m, approachRate: -0.671265 m/s, rangeRepo size: 4 2025-10-27T04:00:45.642Z,1761537645.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.660172 m, bearing: 41.348417 deg, lat: 36.779365 deg, lon: -121.859549 deg, deltaT: 7.057327 s, deltaX: -4.282055 m, approachRate: -0.606753 m/s, posRepo size: 4 2025-10-27T04:00:45.647Z,1761537645.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:45.650Z,1761537645.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 30.937160 m, bearing: 38.661477 deg, approach rate: 0.000000 m/s, LOS rate: -0.097137 deg/s, cmd heading: 36.692719 deg, new cmd heading: 36.578642 deg. 2025-10-27T04:00:45.655Z,1761537645.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638418 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:45.877Z,1761537645.877 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=44.818134 2025-10-27T04:00:46.022Z,1761537646.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764883,-0.608586,-0.211133],[0.633645,0.769831,0.076517],[0.115969,-0.192310,0.974458]] 2025-10-27T04:00:46.059Z,1761537646.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:46.062Z,1761537646.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 30.645245 m, bearing: 38.634727 deg, approach rate: -0.696795 m/s, LOS rate: -0.064458 deg/s, cmd heading: 36.578641 deg, new cmd heading: 36.497628 deg. 2025-10-27T04:00:46.063Z,1761537646.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637004 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:46.129Z,1761537646.129 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=45.070084 2025-10-27T04:00:46.380Z,1761537646.380 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=45.321095 2025-10-27T04:00:46.398Z,1761537646.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765635,-0.607626,-0.211174],[0.632483,0.770951,0.074827],[0.117338,-0.190854,0.974580]] 2025-10-27T04:00:46.429Z,1761537646.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:46.432Z,1761537646.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 30.401121 m, bearing: 38.612576 deg, approach rate: -0.659601 m/s, LOS rate: -0.060332 deg/s, cmd heading: 36.497628 deg, new cmd heading: 36.430640 deg. 2025-10-27T04:00:46.433Z,1761537646.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635835 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:46.633Z,1761537646.633 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=45.573704 2025-10-27T04:00:46.835Z,1761537646.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:46.837Z,1761537646.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:46.840Z,1761537646.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 30.132517 m, bearing: 38.587788 deg, approach rate: -0.658026 m/s, LOS rate: -0.061267 deg/s, cmd heading: 36.430641 deg, new cmd heading: 36.355614 deg. 2025-10-27T04:00:46.841Z,1761537646.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634525 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:46.884Z,1761537646.884 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=45.825108 2025-10-27T04:00:47.136Z,1761537647.136 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=46.077122 2025-10-27T04:00:47.205Z,1761537647.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767761,-0.603785,-0.214446],[0.629360,0.773426,0.075613],[0.120204,-0.193016,0.973805]] 2025-10-27T04:00:47.272Z,1761537647.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:47.276Z,1761537647.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 29.848175 m, bearing: 38.585315 deg, approach rate: -0.653446 m/s, LOS rate: -0.005737 deg/s, cmd heading: 36.355615 deg, new cmd heading: 36.348126 deg. 2025-10-27T04:00:47.277Z,1761537647.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634394 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:47.388Z,1761537647.388 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=46.329239 2025-10-27T04:00:47.609Z,1761537647.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769075,-0.601586,-0.215912],[0.627440,0.774983,0.075632],[0.121829,-0.193638,0.973479]] 2025-10-27T04:00:47.640Z,1761537647.640 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=46.581245 2025-10-27T04:00:47.644Z,1761537647.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:47.647Z,1761537647.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 29.605181 m, bearing: 38.584272 deg, approach rate: -0.652991 m/s, LOS rate: -0.002826 deg/s, cmd heading: 36.348125 deg, new cmd heading: 36.344970 deg. 2025-10-27T04:00:47.648Z,1761537647.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634339 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:47.892Z,1761537647.892 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=46.833225 2025-10-27T04:00:48.049Z,1761537648.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770521,-0.599283,-0.217159],[0.625389,0.776624,0.075789],[0.123232,-0.194206,0.973190]] 2025-10-27T04:00:48.092Z,1761537648.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:48.094Z,1761537648.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 29.327707 m, bearing: 38.596907 deg, approach rate: -0.621185 m/s, LOS rate: 0.028555 deg/s, cmd heading: 36.344970 deg, new cmd heading: 36.383235 deg. 2025-10-27T04:00:48.096Z,1761537648.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635007 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:48.144Z,1761537648.144 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=47.085594 2025-10-27T04:00:48.268Z,1761537648.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:00:48.396Z,1761537648.396 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=47.337360 2025-10-27T04:00:48.418Z,1761537648.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772273,-0.596831,-0.217686],[0.623021,0.778527,0.075765],[0.124256,-0.194134,0.973074]] 2025-10-27T04:00:48.451Z,1761537648.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:48.454Z,1761537648.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 29.114607 m, bearing: 38.608020 deg, approach rate: -0.591107 m/s, LOS rate: 0.031052 deg/s, cmd heading: 36.383236 deg, new cmd heading: 36.416820 deg. 2025-10-27T04:00:48.459Z,1761537648.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.635593 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:48.648Z,1761537648.648 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=47.589020 2025-10-27T04:00:48.824Z,1761537648.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773716,-0.594808,-0.218097],[0.620962,0.780247,0.074970],[0.125577,-0.193436,0.973043]] 2025-10-27T04:00:48.846Z,1761537648.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:48.848Z,1761537648.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:48.851Z,1761537648.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 28.859634 m, bearing: 38.622810 deg, approach rate: -0.643034 m/s, LOS rate: 0.037629 deg/s, cmd heading: 36.416820 deg, new cmd heading: 36.461582 deg. 2025-10-27T04:00:48.852Z,1761537648.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636375 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:48.900Z,1761537648.900 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=47.841511 2025-10-27T04:00:49.155Z,1761537649.155 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=48.095856 2025-10-27T04:00:49.231Z,1761537649.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775549,-0.591874,-0.219564],[0.618404,0.782198,0.075786],[0.126887,-0.194555,0.972650]] 2025-10-27T04:00:49.271Z,1761537649.271 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:00:49.288Z,1761537649.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:49.291Z,1761537649.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 28.594076 m, bearing: 38.656233 deg, approach rate: -0.602915 m/s, LOS rate: 0.076586 deg/s, cmd heading: 36.461582 deg, new cmd heading: 36.562780 deg. 2025-10-27T04:00:49.292Z,1761537649.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638141 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:49.404Z,1761537649.404 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=48.345108 2025-10-27T04:00:49.635Z,1761537649.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777511,-0.589128,-0.220008],[0.615708,0.784332,0.075669],[0.127980,-0.194295,0.972559]] 2025-10-27T04:00:49.653Z,1761537649.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:49.656Z,1761537649.656 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=48.597229 2025-10-27T04:00:49.658Z,1761537649.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 28.374287 m, bearing: 38.685872 deg, approach rate: -0.602376 m/s, LOS rate: 0.081863 deg/s, cmd heading: 36.562781 deg, new cmd heading: 36.652389 deg. 2025-10-27T04:00:49.659Z,1761537649.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639705 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:49.908Z,1761537649.908 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=48.849140 2025-10-27T04:00:50.073Z,1761537650.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779410,-0.586706,-0.219763],[0.613092,0.786468,0.074740],[0.128986,-0.192988,0.972686]] 2025-10-27T04:00:50.121Z,1761537650.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:50.124Z,1761537650.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 28.098452 m, bearing: 38.713959 deg, approach rate: -0.590237 m/s, LOS rate: 0.060691 deg/s, cmd heading: 36.652390 deg, new cmd heading: 36.737478 deg. 2025-10-27T04:00:50.125Z,1761537650.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.641190 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:50.160Z,1761537650.160 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=49.101128 2025-10-27T04:00:50.412Z,1761537650.412 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=49.353107 2025-10-27T04:00:50.438Z,1761537650.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780920,-0.584655,-0.219869],[0.610982,0.788152,0.074279],[0.129863,-0.192342,0.972698]] 2025-10-27T04:00:50.464Z,1761537650.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:50.471Z,1761537650.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 27.900511 m, bearing: 38.735537 deg, approach rate: -0.575992 m/s, LOS rate: 0.063235 deg/s, cmd heading: 36.737477 deg, new cmd heading: 36.802669 deg. 2025-10-27T04:00:50.472Z,1761537650.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642328 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:50.664Z,1761537650.664 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=49.605137 2025-10-27T04:00:50.843Z,1761537650.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782659,-0.582237,-0.220102],[0.608575,0.790022,0.074175],[0.130698,-0.192002,0.972653]] 2025-10-27T04:00:50.860Z,1761537650.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:50.862Z,1761537650.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:50.865Z,1761537650.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 27.661339 m, bearing: 38.763520 deg, approach rate: -0.601834 m/s, LOS rate: 0.071022 deg/s, cmd heading: 36.802671 deg, new cmd heading: 36.887345 deg. 2025-10-27T04:00:50.866Z,1761537650.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643806 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:50.916Z,1761537650.916 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=49.857231 2025-10-27T04:00:51.169Z,1761537651.169 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=50.109829 2025-10-27T04:00:51.265Z,1761537651.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783964,-0.580439,-0.220206],[0.606723,0.791485,0.073753],[0.131481,-0.191424,0.972661]] 2025-10-27T04:00:51.302Z,1761537651.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:51.305Z,1761537651.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 27.399017 m, bearing: 38.775825 deg, approach rate: -0.595321 m/s, LOS rate: 0.028194 deg/s, cmd heading: 36.887345 deg, new cmd heading: 36.924615 deg. 2025-10-27T04:00:51.306Z,1761537651.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.644456 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:51.421Z,1761537651.421 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=50.361698 2025-10-27T04:00:51.666Z,1761537651.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785291,-0.578652,-0.220180],[0.604880,0.792917,0.073501],[0.132053,-0.190902,0.972686]] 2025-10-27T04:00:51.672Z,1761537651.672 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=50.613129 2025-10-27T04:00:51.710Z,1761537651.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:51.725Z,1761537651.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 27.170492 m, bearing: 38.787862 deg, approach rate: -0.560728 m/s, LOS rate: 0.029782 deg/s, cmd heading: 36.924614 deg, new cmd heading: 36.961027 deg. 2025-10-27T04:00:51.727Z,1761537651.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645092 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:51.924Z,1761537651.924 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=50.865181 2025-10-27T04:00:52.147Z,1761537652.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785837,-0.577983,-0.219989],[0.603963,0.793752,0.072011],[0.132996,-0.189454,0.972841]] 2025-10-27T04:00:52.176Z,1761537652.176 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=51.117214 2025-10-27T04:00:52.197Z,1761537652.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:52.200Z,1761537652.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 26.866936 m, bearing: 38.766155 deg, approach rate: -0.623431 m/s, LOS rate: -0.045083 deg/s, cmd heading: 36.961026 deg, new cmd heading: 36.895172 deg. 2025-10-27T04:00:52.201Z,1761537652.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643942 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:52.358Z,1761537652.358 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T04:00:52.358Z,1761537652.358 [DockingStepper] No Fault, FailCount= 1 2025-10-27T04:00:52.428Z,1761537652.428 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=51.369072 2025-10-27T04:00:52.521Z,1761537652.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786564,-0.576893,-0.220251],[0.602779,0.794740,0.071029],[0.134066,-0.188632,0.972854]] 2025-10-27T04:00:52.539Z,1761537652.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:52.542Z,1761537652.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 26.662670 m, bearing: 38.751907 deg, approach rate: -0.596996 m/s, LOS rate: -0.041962 deg/s, cmd heading: 36.895172 deg, new cmd heading: 36.852100 deg. 2025-10-27T04:00:52.543Z,1761537652.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.643191 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:52.556Z,1761537652.556 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T04:00:52.556Z,1761537652.556 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T04:00:52.680Z,1761537652.680 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=51.620998 2025-10-27T04:00:52.922Z,1761537652.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786789,-0.576490,-0.220505],[0.602135,0.795410,0.068970],[0.135631,-0.187039,0.972944]] 2025-10-27T04:00:52.932Z,1761537652.932 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=51.873260 2025-10-27T04:00:52.962Z,1761537652.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:52.964Z,1761537652.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:52.967Z,1761537652.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 26.422726 m, bearing: 38.735286 deg, approach rate: -0.564024 m/s, LOS rate: -0.039424 deg/s, cmd heading: 36.852101 deg, new cmd heading: 36.801787 deg. 2025-10-27T04:00:52.968Z,1761537652.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.642312 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:53.184Z,1761537653.184 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=52.125080 2025-10-27T04:00:53.326Z,1761537653.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786516,-0.576917,-0.220363],[0.602128,0.795665,0.066030],[0.137241,-0.184620,0.973181]] 2025-10-27T04:00:53.379Z,1761537653.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:53.382Z,1761537653.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 26.151840 m, bearing: 38.689762 deg, approach rate: -0.652804 m/s, LOS rate: -0.110846 deg/s, cmd heading: 36.801787 deg, new cmd heading: 36.663798 deg. 2025-10-27T04:00:53.383Z,1761537653.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.639904 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:53.438Z,1761537653.438 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=52.379589 2025-10-27T04:00:53.688Z,1761537653.688 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=52.629272 2025-10-27T04:00:53.750Z,1761537653.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785809,-0.577546,-0.221234],[0.602573,0.795532,0.063513],[0.139317,-0.183218,0.973150]] 2025-10-27T04:00:53.789Z,1761537653.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:53.799Z,1761537653.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 25.902802 m, bearing: 38.646653 deg, approach rate: -0.607560 m/s, LOS rate: -0.106181 deg/s, cmd heading: 36.663796 deg, new cmd heading: 36.533226 deg. 2025-10-27T04:00:53.800Z,1761537653.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637625 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:53.940Z,1761537653.940 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=52.881084 2025-10-27T04:00:54.148Z,1761537654.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784992,-0.578335,-0.222072],[0.603226,0.795204,0.061391],[0.141088,-0.182151,0.973096]] 2025-10-27T04:00:54.188Z,1761537654.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:54.190Z,1761537654.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 25.643503 m, bearing: 38.576397 deg, approach rate: -0.650629 m/s, LOS rate: -0.178068 deg/s, cmd heading: 36.533227 deg, new cmd heading: 36.320329 deg. 2025-10-27T04:00:54.192Z,1761537654.192 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=53.133484 2025-10-27T04:00:54.193Z,1761537654.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.633909 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:54.444Z,1761537654.444 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=53.385117 2025-10-27T04:00:54.537Z,1761537654.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784089,-0.579203,-0.222998],[0.603987,0.794779,0.059382],[0.142840,-0.181248,0.973009]] 2025-10-27T04:00:54.580Z,1761537654.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:54.591Z,1761537654.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 25.399895 m, bearing: 38.508418 deg, approach rate: -0.620647 m/s, LOS rate: -0.174852 deg/s, cmd heading: 36.320330 deg, new cmd heading: 36.114439 deg. 2025-10-27T04:00:54.592Z,1761537654.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630316 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:54.696Z,1761537654.696 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=53.637531 2025-10-27T04:00:54.942Z,1761537654.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782776,-0.580262,-0.224852],[0.605170,0.793999,0.057751],[0.145021,-0.181280,0.972680]] 2025-10-27T04:00:54.948Z,1761537654.948 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=53.889206 2025-10-27T04:00:54.962Z,1761537654.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:54.965Z,1761537654.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 25.144638 m, bearing: 38.434691 deg, approach rate: -0.668376 m/s, LOS rate: -0.195012 deg/s, cmd heading: 36.114441 deg, new cmd heading: 35.891014 deg. 2025-10-27T04:00:54.966Z,1761537654.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.626416 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:55.200Z,1761537655.200 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=54.141106 2025-10-27T04:00:55.350Z,1761537655.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781416,-0.581752,-0.225730],[0.606427,0.793238,0.054953],[0.147088,-0.179830,0.972639]] 2025-10-27T04:00:55.399Z,1761537655.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:55.401Z,1761537655.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:55.404Z,1761537655.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 24.853846 m, bearing: 38.349596 deg, approach rate: -0.662204 m/s, LOS rate: -0.196048 deg/s, cmd heading: 35.891015 deg, new cmd heading: 35.632746 deg. 2025-10-27T04:00:55.405Z,1761537655.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.621909 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:55.452Z,1761537655.452 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=54.393208 2025-10-27T04:00:55.705Z,1761537655.705 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=54.645786 2025-10-27T04:00:55.765Z,1761537655.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780277,-0.582704,-0.227208],[0.607420,0.792591,0.053301],[0.149024,-0.179600,0.972386]] 2025-10-27T04:00:55.783Z,1761537655.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:55.786Z,1761537655.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 24.600811 m, bearing: 38.272977 deg, approach rate: -0.663414 m/s, LOS rate: -0.202948 deg/s, cmd heading: 35.632745 deg, new cmd heading: 35.400525 deg. 2025-10-27T04:00:55.787Z,1761537655.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.617856 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:55.958Z,1761537655.958 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=54.898067 2025-10-27T04:00:56.176Z,1761537656.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779169,-0.583713,-0.228417],[0.608388,0.791970,0.051455],[0.150865,-0.179058,0.972203]] 2025-10-27T04:00:56.208Z,1761537656.208 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=55.149181 2025-10-27T04:00:56.246Z,1761537656.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:56.253Z,1761537656.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 24.314444 m, bearing: 38.184334 deg, approach rate: -0.618575 m/s, LOS rate: -0.193730 deg/s, cmd heading: 35.400526 deg, new cmd heading: 35.131468 deg. 2025-10-27T04:00:56.254Z,1761537656.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.613160 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:56.420Z,1761537656.420 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T04:00:56.460Z,1761537656.460 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=55.401436 2025-10-27T04:00:56.714Z,1761537656.714 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=55.654659 2025-10-27T04:00:56.730Z,1761537656.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777829,-0.585068,-0.229516],[0.609514,0.791288,0.048537],[0.153216,-0.177647,0.972094]] 2025-10-27T04:00:56.782Z,1761537656.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:56.785Z,1761537656.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 23.938072 m, bearing: 38.062915 deg, approach rate: -0.701224 m/s, LOS rate: -0.229775 deg/s, cmd heading: 35.131467 deg, new cmd heading: 34.761487 deg. 2025-10-27T04:00:56.786Z,1761537656.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.606702 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:56.965Z,1761537656.965 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=55.905701 2025-10-27T04:00:57.186Z,1761537657.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776648,-0.585094,-0.233417],[0.610053,0.790955,0.047184],[0.157015,-0.179042,0.971231]] 2025-10-27T04:00:57.201Z,1761537657.201 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, ,82.55, .29, 20.00,182.67 2025-10-27T04:00:57.217Z,1761537657.217 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=56.158344 2025-10-27T04:00:57.252Z,1761537657.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:57.259Z,1761537657.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 23.642618 m, bearing: 37.963995 deg, approach rate: -0.628584 m/s, LOS rate: -0.213083 deg/s, cmd heading: 34.761486 deg, new cmd heading: 34.461022 deg. 2025-10-27T04:00:57.260Z,1761537657.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601458 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:57.468Z,1761537657.468 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=56.409206 2025-10-27T04:00:57.712Z,1761537657.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776734,-0.583919,-0.236056],[0.609628,0.791180,0.048860],[0.158233,-0.181857,0.970510]] 2025-10-27T04:00:57.721Z,1761537657.721 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=56.661598 2025-10-27T04:00:57.746Z,1761537657.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:57.767Z,1761537657.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:57.770Z,1761537657.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 23.300322 m, bearing: 37.846612 deg, approach rate: -0.687080 m/s, LOS rate: -0.239081 deg/s, cmd heading: 34.461023 deg, new cmd heading: 34.103705 deg. 2025-10-27T04:00:57.770Z,1761537657.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595222 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:57.972Z,1761537657.972 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=56.913425 2025-10-27T04:00:58.111Z,1761537658.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777168,-0.582537,-0.238036],[0.608913,0.791611,0.050770],[0.158856,-0.184401,0.969928]] 2025-10-27T04:00:58.206Z,1761537658.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:58.215Z,1761537658.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 23.018255 m, bearing: 37.747881 deg, approach rate: -0.620457 m/s, LOS rate: -0.219837 deg/s, cmd heading: 34.103705 deg, new cmd heading: 33.803886 deg. 2025-10-27T04:00:58.217Z,1761537658.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589989 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:58.225Z,1761537658.225 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=57.166466 2025-10-27T04:00:58.477Z,1761537658.477 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=57.418034 2025-10-27T04:00:58.560Z,1761537658.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778246,-0.580349,-0.239849],[0.607459,0.792559,0.053331],[0.159144,-0.187203,0.969344]] 2025-10-27T04:00:58.617Z,1761537658.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:58.624Z,1761537658.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 22.739950 m, bearing: 37.708648 deg, approach rate: -0.676547 m/s, LOS rate: -0.096542 deg/s, cmd heading: 33.803887 deg, new cmd heading: 33.684746 deg. 2025-10-27T04:00:58.625Z,1761537658.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587910 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:58.733Z,1761537658.733 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=57.674385 2025-10-27T04:00:58.964Z,1761537658.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779599,-0.577918,-0.241320],[0.605715,0.793707,0.056013],[0.159166,-0.189839,0.968828]] 2025-10-27T04:00:58.980Z,1761537658.980 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=57.921234 2025-10-27T04:00:58.984Z,1761537658.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:58.987Z,1761537658.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 22.486696 m, bearing: 37.673626 deg, approach rate: -0.688714 m/s, LOS rate: -0.096313 deg/s, cmd heading: 33.684744 deg, new cmd heading: 33.578496 deg. 2025-10-27T04:00:58.988Z,1761537658.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586055 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:59.233Z,1761537659.233 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=58.174599 2025-10-27T04:00:59.370Z,1761537659.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781228,-0.575380,-0.242115],[0.603626,0.795152,0.058051],[0.159117,-0.191498,0.968509]] 2025-10-27T04:00:59.427Z,1761537659.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:59.430Z,1761537659.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 22.216143 m, bearing: 37.664778 deg, approach rate: -0.616885 m/s, LOS rate: -0.020420 deg/s, cmd heading: 33.578494 deg, new cmd heading: 33.551626 deg. 2025-10-27T04:00:59.435Z,1761537659.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585586 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:59.485Z,1761537659.485 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=58.426071 2025-10-27T04:00:59.737Z,1761537659.737 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=58.678112 2025-10-27T04:00:59.783Z,1761537659.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783048,-0.572497,-0.243068],[0.601286,0.796741,0.060493],[0.159030,-0.193522,0.968121]] 2025-10-27T04:00:59.800Z,1761537659.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:00:59.802Z,1761537659.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:00:59.805Z,1761537659.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 21.964144 m, bearing: 37.658351 deg, approach rate: -0.664146 m/s, LOS rate: -0.017133 deg/s, cmd heading: 33.551627 deg, new cmd heading: 33.532125 deg. 2025-10-27T04:00:59.806Z,1761537659.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585246 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:00:59.988Z,1761537659.988 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=58.929005 2025-10-27T04:01:00.222Z,1761537660.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785300,-0.569197,-0.243554],[0.598536,0.798567,0.063595],[0.158296,-0.195718,0.967800]] 2025-10-27T04:01:00.241Z,1761537660.241 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=59.181911 2025-10-27T04:01:00.286Z,1761537660.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:00.309Z,1761537660.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 21.663671 m, bearing: 37.686989 deg, approach rate: -0.621124 m/s, LOS rate: 0.060020 deg/s, cmd heading: 33.532124 deg, new cmd heading: 33.619230 deg. 2025-10-27T04:01:00.310Z,1761537660.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586766 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:00.492Z,1761537660.492 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=59.433079 2025-10-27T04:01:00.632Z,1761537660.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787677,-0.565893,-0.243576],[0.595551,0.800613,0.065854],[0.157743,-0.196933,0.967644]] 2025-10-27T04:01:00.650Z,1761537660.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:00.653Z,1761537660.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 21.438181 m, bearing: 37.711333 deg, approach rate: -0.619934 m/s, LOS rate: 0.067634 deg/s, cmd heading: 33.619229 deg, new cmd heading: 33.693032 deg. 2025-10-27T04:01:00.654Z,1761537660.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588054 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:00.745Z,1761537660.745 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=59.685596 2025-10-27T04:01:00.996Z,1761537660.996 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=59.937099 2025-10-27T04:01:01.034Z,1761537661.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790757,-0.561872,-0.242905],[0.591732,0.803231,0.068355],[0.156702,-0.197787,0.967639]] 2025-10-27T04:01:01.052Z,1761537661.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:01.055Z,1761537661.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 21.188448 m, bearing: 37.742253 deg, approach rate: -0.620270 m/s, LOS rate: 0.077702 deg/s, cmd heading: 33.693033 deg, new cmd heading: 33.786886 deg. 2025-10-27T04:01:01.056Z,1761537661.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589692 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:01.248Z,1761537661.248 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=60.189182 2025-10-27T04:01:01.438Z,1761537661.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793381,-0.558389,-0.242380],[0.588408,0.805499,0.070342],[0.155958,-0.198426,0.967628]] 2025-10-27T04:01:01.485Z,1761537661.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:01.488Z,1761537661.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 20.926693 m, bearing: 37.777319 deg, approach rate: -0.605575 m/s, LOS rate: 0.082141 deg/s, cmd heading: 33.786887 deg, new cmd heading: 33.893401 deg. 2025-10-27T04:01:01.489Z,1761537661.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591551 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:01.500Z,1761537661.500 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=60.440968 2025-10-27T04:01:01.752Z,1761537661.752 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=60.693363 2025-10-27T04:01:01.841Z,1761537661.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796183,-0.554388,-0.242379],[0.584820,0.807845,0.073293],[0.155172,-0.200103,0.967409]] 2025-10-27T04:01:01.866Z,1761537661.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:01.890Z,1761537661.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:01.893Z,1761537661.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 20.695000 m, bearing: 37.812022 deg, approach rate: -0.571891 m/s, LOS rate: 0.086615 deg/s, cmd heading: 33.893400 deg, new cmd heading: 33.998673 deg. 2025-10-27T04:01:01.894Z,1761537661.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593389 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:02.004Z,1761537662.004 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=60.945122 2025-10-27T04:01:02.258Z,1761537662.258 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=61.199421 2025-10-27T04:01:02.277Z,1761537662.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799071,-0.550308,-0.242171],[0.581116,0.810237,0.076282],[0.154238,-0.201684,0.967230]] 2025-10-27T04:01:02.330Z,1761537662.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:02.333Z,1761537662.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 20.412573 m, bearing: 37.841233 deg, approach rate: -0.641573 m/s, LOS rate: 0.067275 deg/s, cmd heading: 33.998674 deg, new cmd heading: 34.087519 deg. 2025-10-27T04:01:02.334Z,1761537662.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.594939 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:02.511Z,1761537662.511 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=61.451950 2025-10-27T04:01:02.718Z,1761537662.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801880,-0.546400,-0.241736],[0.577491,0.812569,0.078973],[0.153276,-0.202927,0.967123]] 2025-10-27T04:01:02.755Z,1761537662.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:02.758Z,1761537662.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 20.159758 m, bearing: 37.871366 deg, approach rate: -0.612050 m/s, LOS rate: 0.073865 deg/s, cmd heading: 34.087517 deg, new cmd heading: 34.179049 deg. 2025-10-27T04:01:02.760Z,1761537662.760 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=61.701275 2025-10-27T04:01:02.765Z,1761537662.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.596537 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:03.012Z,1761537663.012 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=61.953026 2025-10-27T04:01:03.210Z,1761537663.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806887,-0.539521,-0.240519],[0.570883,0.816835,0.082898],[0.151739,-0.204197,0.967098]] 2025-10-27T04:01:03.264Z,1761537663.264 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=62.205067 2025-10-27T04:01:03.313Z,1761537663.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:03.316Z,1761537663.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 19.815126 m, bearing: 37.894434 deg, approach rate: -0.604950 m/s, LOS rate: 0.041197 deg/s, cmd heading: 34.179049 deg, new cmd heading: 34.249457 deg. 2025-10-27T04:01:03.317Z,1761537663.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597766 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:03.516Z,1761537663.516 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=62.457184 2025-10-27T04:01:03.589Z,1761537663.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809200,-0.536886,-0.238641],[0.567886,0.818877,0.083347],[0.150670,-0.202965,0.967524]] 2025-10-27T04:01:03.621Z,1761537663.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:03.626Z,1761537663.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 19.628386 m, bearing: 37.909408 deg, approach rate: -0.605101 m/s, LOS rate: 0.048983 deg/s, cmd heading: 34.249458 deg, new cmd heading: 34.294807 deg. 2025-10-27T04:01:03.628Z,1761537663.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598557 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:03.768Z,1761537663.768 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=62.709042 2025-10-27T04:01:03.993Z,1761537663.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810629,-0.535830,-0.236147],[0.566102,0.820235,0.082119],[0.149694,-0.200252,0.968241]] 2025-10-27T04:01:04.011Z,1761537664.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:04.013Z,1761537664.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:04.016Z,1761537664.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 19.391747 m, bearing: 37.930543 deg, approach rate: -0.604399 m/s, LOS rate: 0.054641 deg/s, cmd heading: 34.294807 deg, new cmd heading: 34.358987 deg. 2025-10-27T04:01:04.017Z,1761537664.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599677 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:04.020Z,1761537664.020 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=62.961487 2025-10-27T04:01:04.290Z,1761537664.290 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=63.231361 2025-10-27T04:01:04.398Z,1761537664.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812097,-0.534631,-0.233814],[0.564260,0.821595,0.081189],[0.148695,-0.197866,0.968886]] 2025-10-27T04:01:04.462Z,1761537664.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:04.465Z,1761537664.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 19.106085 m, bearing: 37.925186 deg, approach rate: -0.636057 m/s, LOS rate: -0.012106 deg/s, cmd heading: 34.358987 deg, new cmd heading: 34.342675 deg. 2025-10-27T04:01:04.466Z,1761537664.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599393 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:04.533Z,1761537664.533 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=63.473995 2025-10-27T04:01:04.784Z,1761537664.784 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=63.725094 2025-10-27T04:01:04.810Z,1761537664.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813227,-0.533959,-0.231406],[0.562881,0.822672,0.079848],[0.147735,-0.195189,0.969575]] 2025-10-27T04:01:04.849Z,1761537664.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:04.864Z,1761537664.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 18.863611 m, bearing: 37.921956 deg, approach rate: -0.626693 m/s, LOS rate: -0.008456 deg/s, cmd heading: 34.342676 deg, new cmd heading: 34.332861 deg. 2025-10-27T04:01:04.865Z,1761537664.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599221 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:05.037Z,1761537665.037 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=63.977650 2025-10-27T04:01:05.229Z,1761537665.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813711,-0.534093,-0.229389],[0.562442,0.823077,0.078753],[0.146744,-0.193100,0.970144]] 2025-10-27T04:01:05.289Z,1761537665.289 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=64.229713 2025-10-27T04:01:05.310Z,1761537665.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:05.318Z,1761537665.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 18.569113 m, bearing: 37.918624 deg, approach rate: -0.638353 m/s, LOS rate: -0.007339 deg/s, cmd heading: 34.332861 deg, new cmd heading: 34.322704 deg. 2025-10-27T04:01:05.323Z,1761537665.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.599044 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:05.540Z,1761537665.540 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=64.481430 2025-10-27T04:01:05.610Z,1761537665.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814189,-0.534724,-0.226202],[0.562069,0.823568,0.076253],[0.145518,-0.189226,0.971091]] 2025-10-27T04:01:05.672Z,1761537665.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:05.679Z,1761537665.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 18.346458 m, bearing: 37.902781 deg, approach rate: -0.615159 m/s, LOS rate: -0.044302 deg/s, cmd heading: 34.322705 deg, new cmd heading: 34.274600 deg. 2025-10-27T04:01:05.680Z,1761537665.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598205 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:05.793Z,1761537665.793 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=64.733910 2025-10-27T04:01:06.015Z,1761537666.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814227,-0.535752,-0.223616],[0.562247,0.823664,0.073865],[0.144611,-0.185870,0.971874]] 2025-10-27T04:01:06.032Z,1761537666.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:06.034Z,1761537666.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:06.037Z,1761537666.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 18.094292 m, bearing: 37.884397 deg, approach rate: -0.697159 m/s, LOS rate: -0.051534 deg/s, cmd heading: 34.274600 deg, new cmd heading: 34.218679 deg. 2025-10-27T04:01:06.038Z,1761537666.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597229 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:06.044Z,1761537666.044 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=64.985207 2025-10-27T04:01:06.299Z,1761537666.299 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=65.239418 2025-10-27T04:01:06.417Z,1761537666.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814121,-0.536800,-0.221480],[0.562606,0.823593,0.071900],[0.143813,-0.183141,0.972511]] 2025-10-27T04:01:06.477Z,1761537666.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:06.480Z,1761537666.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 17.796709 m, bearing: 37.846732 deg, approach rate: -0.672445 m/s, LOS rate: -0.086534 deg/s, cmd heading: 34.218677 deg, new cmd heading: 34.103794 deg. 2025-10-27T04:01:06.481Z,1761537666.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.595223 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:06.548Z,1761537666.548 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=65.489304 2025-10-27T04:01:06.800Z,1761537666.800 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=65.741081 2025-10-27T04:01:06.835Z,1761537666.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814326,-0.537574,-0.218833],[0.562640,0.823715,0.070211],[0.142512,-0.180298,0.973233]] 2025-10-27T04:01:06.853Z,1761537666.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:06.856Z,1761537666.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 17.543392 m, bearing: 37.813814 deg, approach rate: -0.672317 m/s, LOS rate: -0.088628 deg/s, cmd heading: 34.103794 deg, new cmd heading: 34.003613 deg. 2025-10-27T04:01:06.857Z,1761537666.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593475 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:07.055Z,1761537667.055 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=65.996117 2025-10-27T04:01:07.231Z,1761537667.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813912,-0.538407,-0.218323],[0.563344,0.823259,0.069916],[0.142093,-0.179896,0.973369]] 2025-10-27T04:01:07.307Z,1761537667.307 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=66.247574 2025-10-27T04:01:07.323Z,1761537667.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:07.326Z,1761537667.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 17.274412 m, bearing: 37.777083 deg, approach rate: -0.577704 m/s, LOS rate: -0.080117 deg/s, cmd heading: 34.003612 deg, new cmd heading: 33.891705 deg. 2025-10-27T04:01:07.331Z,1761537667.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591522 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:07.556Z,1761537667.556 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=66.497330 2025-10-27T04:01:07.629Z,1761537667.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813734,-0.538905,-0.217756],[0.563742,0.822987,0.069914],[0.141533,-0.179650,0.973496]] 2025-10-27T04:01:07.696Z,1761537667.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:07.701Z,1761537667.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 16.976189 m, bearing: 37.731340 deg, approach rate: -0.794434 m/s, LOS rate: -0.123996 deg/s, cmd heading: 33.891706 deg, new cmd heading: 33.752065 deg. 2025-10-27T04:01:07.703Z,1761537667.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589085 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:07.808Z,1761537667.808 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=66.749199 2025-10-27T04:01:08.033Z,1761537668.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813580,-0.539706,-0.216346],[0.564170,0.822763,0.069091],[0.140713,-0.178267,0.973869]] 2025-10-27T04:01:08.057Z,1761537668.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:08.060Z,1761537668.060 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=67.001259 2025-10-27T04:01:08.061Z,1761537668.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:08.064Z,1761537668.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 16.724972 m, bearing: 37.691168 deg, approach rate: -0.688884 m/s, LOS rate: -0.111814 deg/s, cmd heading: 33.752066 deg, new cmd heading: 33.629740 deg. 2025-10-27T04:01:08.065Z,1761537668.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586950 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:08.315Z,1761537668.315 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=67.255554 2025-10-27T04:01:08.437Z,1761537668.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813356,-0.540485,-0.215239],[0.564708,0.822420,0.068774],[0.139846,-0.177485,0.974137]] 2025-10-27T04:01:08.498Z,1761537668.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:08.501Z,1761537668.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 16.428808 m, bearing: 37.641476 deg, approach rate: -0.674517 m/s, LOS rate: -0.115215 deg/s, cmd heading: 33.629741 deg, new cmd heading: 33.477977 deg. 2025-10-27T04:01:08.502Z,1761537668.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584301 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:08.566Z,1761537668.566 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=67.507530 2025-10-27T04:01:08.820Z,1761537668.820 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=67.761139 2025-10-27T04:01:08.842Z,1761537668.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813102,-0.541153,-0.214518],[0.565199,0.822114,0.068406],[0.139340,-0.176867,0.974322]] 2025-10-27T04:01:08.876Z,1761537668.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:08.879Z,1761537668.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 16.173748 m, bearing: 37.596722 deg, approach rate: -0.673983 m/s, LOS rate: -0.120124 deg/s, cmd heading: 33.477978 deg, new cmd heading: 33.341599 deg. 2025-10-27T04:01:08.880Z,1761537668.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581921 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:09.072Z,1761537669.072 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=68.013496 2025-10-27T04:01:09.300Z,1761537669.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812839,-0.541967,-0.213460],[0.565762,0.821764,0.067946],[0.138589,-0.175997,0.974586]] 2025-10-27T04:01:09.326Z,1761537669.326 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=68.267021 2025-10-27T04:01:09.401Z,1761537669.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:09.404Z,1761537669.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 15.821685 m, bearing: 37.548647 deg, approach rate: -0.670988 m/s, LOS rate: -0.093663 deg/s, cmd heading: 33.341599 deg, new cmd heading: 33.194167 deg. 2025-10-27T04:01:09.405Z,1761537669.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579347 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:09.577Z,1761537669.577 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=68.518173 2025-10-27T04:01:09.721Z,1761537669.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812676,-0.542558,-0.212576],[0.566150,0.821525,0.067611],[0.137953,-0.175296,0.974803]] 2025-10-27T04:01:09.741Z,1761537669.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:09.744Z,1761537669.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 15.588479 m, bearing: 37.515245 deg, approach rate: -0.686247 m/s, LOS rate: -0.099762 deg/s, cmd heading: 33.194166 deg, new cmd heading: 33.092460 deg. 2025-10-27T04:01:09.745Z,1761537669.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577572 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:09.829Z,1761537669.829 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=68.769836 2025-10-27T04:01:10.080Z,1761537670.080 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=69.021111 2025-10-27T04:01:10.106Z,1761537670.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812836,-0.542632,-0.211773],[0.566104,0.821543,0.067782],[0.137200,-0.174981,0.974966]] 2025-10-27T04:01:10.123Z,1761537670.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:10.125Z,1761537670.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:10.128Z,1761537670.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 15.328577 m, bearing: 37.476950 deg, approach rate: -0.676363 m/s, LOS rate: -0.101348 deg/s, cmd heading: 33.092461 deg, new cmd heading: 32.975628 deg. 2025-10-27T04:01:10.129Z,1761537670.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575533 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:10.335Z,1761537670.335 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=69.275833 2025-10-27T04:01:10.561Z,1761537670.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:10.564Z,1761537670.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 15.033092 m, bearing: 37.466170 deg, approach rate: -0.678610 m/s, LOS rate: -0.025243 deg/s, cmd heading: 32.975627 deg, new cmd heading: 32.942653 deg. 2025-10-27T04:01:10.565Z,1761537670.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574958 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:10.584Z,1761537670.584 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=69.525047 2025-10-27T04:01:10.836Z,1761537670.836 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=69.777122 2025-10-27T04:01:10.909Z,1761537670.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813668,-0.541756,-0.210821],[0.565202,0.822070,0.068899],[0.135983,-0.175217,0.975094]] 2025-10-27T04:01:10.941Z,1761537670.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:10.943Z,1761537670.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 14.775318 m, bearing: 37.457652 deg, approach rate: -0.678559 m/s, LOS rate: -0.022815 deg/s, cmd heading: 32.942651 deg, new cmd heading: 32.916651 deg. 2025-10-27T04:01:10.944Z,1761537670.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574504 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:11.089Z,1761537671.089 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=70.029800 2025-10-27T04:01:11.348Z,1761537671.348 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=70.287926 2025-10-27T04:01:11.406Z,1761537671.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814397,-0.540083,-0.212291],[0.564147,0.822571,0.071521],[0.135997,-0.178010,0.974586]] 2025-10-27T04:01:11.459Z,1761537671.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:11.462Z,1761537671.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 14.443174 m, bearing: 37.438421 deg, approach rate: -0.640569 m/s, LOS rate: -0.037941 deg/s, cmd heading: 32.916652 deg, new cmd heading: 32.857633 deg. 2025-10-27T04:01:11.468Z,1761537671.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573474 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:11.596Z,1761537671.596 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=70.537048 2025-10-27T04:01:11.848Z,1761537671.848 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=70.789482 2025-10-27T04:01:11.918Z,1761537671.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815246,-0.538330,-0.213482],[0.562988,0.823118,0.074313],[0.135716,-0.180772,0.974116]] 2025-10-27T04:01:11.937Z,1761537671.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:11.940Z,1761537671.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 14.116833 m, bearing: 37.420613 deg, approach rate: -0.683298 m/s, LOS rate: -0.038149 deg/s, cmd heading: 32.857632 deg, new cmd heading: 32.802973 deg. 2025-10-27T04:01:11.941Z,1761537671.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572520 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:12.101Z,1761537672.101 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=71.042015 2025-10-27T04:01:12.355Z,1761537672.355 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=71.295609 2025-10-27T04:01:12.435Z,1761537672.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817317,-0.534456,-0.215290],[0.559996,0.824773,0.078445],[0.135641,-0.184676,0.973394]] 2025-10-27T04:01:12.492Z,1761537672.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:12.494Z,1761537672.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:12.501Z,1761537672.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 13.759752 m, bearing: 37.425127 deg, approach rate: -0.640818 m/s, LOS rate: 0.008311 deg/s, cmd heading: 32.802974 deg, new cmd heading: 32.816867 deg. 2025-10-27T04:01:12.502Z,1761537672.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572762 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:12.605Z,1761537672.605 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=71.545815 2025-10-27T04:01:12.828Z,1761537672.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818353,-0.532732,-0.215628],[0.558465,0.825711,0.079481],[0.135704,-0.185464,0.973236]] 2025-10-27T04:01:12.856Z,1761537672.856 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=71.797188 2025-10-27T04:01:12.871Z,1761537672.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:12.878Z,1761537672.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 13.509658 m, bearing: 37.430411 deg, approach rate: -0.663942 m/s, LOS rate: 0.014286 deg/s, cmd heading: 32.816866 deg, new cmd heading: 32.833011 deg. 2025-10-27T04:01:12.878Z,1761537672.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573044 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:13.108Z,1761537673.108 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=72.049095 2025-10-27T04:01:13.230Z,1761537673.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819197,-0.531304,-0.215944],[0.557161,0.826539,0.080029],[0.135966,-0.185875,0.973121]] 2025-10-27T04:01:13.249Z,1761537673.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:13.252Z,1761537673.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 13.256249 m, bearing: 37.437683 deg, approach rate: -0.669953 m/s, LOS rate: 0.019595 deg/s, cmd heading: 32.833010 deg, new cmd heading: 32.855245 deg. 2025-10-27T04:01:13.253Z,1761537673.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573432 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:13.363Z,1761537673.363 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=72.303780 2025-10-27T04:01:13.612Z,1761537673.612 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=72.553070 2025-10-27T04:01:13.634Z,1761537673.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820282,-0.529441,-0.216399],[0.555508,0.827555,0.081014],[0.136191,-0.186666,0.972938]] 2025-10-27T04:01:13.689Z,1761537673.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:13.710Z,1761537673.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 12.973144 m, bearing: 37.443593 deg, approach rate: -0.644611 m/s, LOS rate: 0.013748 deg/s, cmd heading: 32.855245 deg, new cmd heading: 32.873360 deg. 2025-10-27T04:01:13.716Z,1761537673.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573748 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:13.864Z,1761537673.864 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=72.805138 2025-10-27T04:01:14.063Z,1761537674.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821000,-0.528156,-0.216817],[0.554419,0.828196,0.081921],[0.136300,-0.187465,0.972769]] 2025-10-27T04:01:14.082Z,1761537674.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:14.085Z,1761537674.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 12.712157 m, bearing: 37.450812 deg, approach rate: -0.662051 m/s, LOS rate: 0.018688 deg/s, cmd heading: 32.873359 deg, new cmd heading: 32.895460 deg. 2025-10-27T04:01:14.086Z,1761537674.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574134 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:14.117Z,1761537674.117 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=73.058006 2025-10-27T04:01:14.368Z,1761537674.368 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=73.309113 2025-10-27T04:01:14.515Z,1761537674.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:14.517Z,1761537674.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:14.520Z,1761537674.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 12.424062 m, bearing: 37.442526 deg, approach rate: -0.662115 m/s, LOS rate: -0.019484 deg/s, cmd heading: 32.895461 deg, new cmd heading: 32.870028 deg. 2025-10-27T04:01:14.521Z,1761537674.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573690 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:14.620Z,1761537674.620 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=73.561310 2025-10-27T04:01:14.870Z,1761537674.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822456,-0.525471,-0.217821],[0.552136,0.829556,0.083557],[0.136788,-0.188989,0.972405]] 2025-10-27T04:01:14.872Z,1761537674.872 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=73.813179 2025-10-27T04:01:14.911Z,1761537674.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:14.914Z,1761537674.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 12.163011 m, bearing: 37.438005 deg, approach rate: -0.663660 m/s, LOS rate: -0.011740 deg/s, cmd heading: 32.870029 deg, new cmd heading: 32.856175 deg. 2025-10-27T04:01:14.915Z,1761537674.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573448 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:15.125Z,1761537675.125 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=74.065689 2025-10-27T04:01:15.270Z,1761537675.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822697,-0.525263,-0.217413],[0.551802,0.829811,0.083238],[0.136689,-0.188449,0.972524]] 2025-10-27T04:01:15.304Z,1761537675.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:15.306Z,1761537675.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 11.912714 m, bearing: 37.433995 deg, approach rate: -0.636804 m/s, LOS rate: -0.010416 deg/s, cmd heading: 32.856174 deg, new cmd heading: 32.843892 deg. 2025-10-27T04:01:15.308Z,1761537675.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573234 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:15.381Z,1761537675.381 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=74.321190 2025-10-27T04:01:15.632Z,1761537675.632 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=74.573235 2025-10-27T04:01:15.679Z,1761537675.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822781,-0.525352,-0.216879],[0.551671,0.829980,0.082412],[0.136710,-0.187453,0.972714]] 2025-10-27T04:01:15.742Z,1761537675.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:15.745Z,1761537675.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 11.614427 m, bearing: 37.425441 deg, approach rate: -0.680579 m/s, LOS rate: -0.020019 deg/s, cmd heading: 32.843894 deg, new cmd heading: 32.817572 deg. 2025-10-27T04:01:15.746Z,1761537675.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572775 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:15.884Z,1761537675.884 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=74.825066 2025-10-27T04:01:16.089Z,1761537676.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822811,-0.525401,-0.216647],[0.551627,0.830045,0.082061],[0.136712,-0.187029,0.972795]] 2025-10-27T04:01:16.108Z,1761537676.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:16.111Z,1761537676.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 11.373591 m, bearing: 37.418282 deg, approach rate: -0.658007 m/s, LOS rate: -0.019975 deg/s, cmd heading: 32.817570 deg, new cmd heading: 32.795637 deg. 2025-10-27T04:01:16.112Z,1761537676.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572392 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:16.136Z,1761537676.136 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=75.077179 2025-10-27T04:01:16.391Z,1761537676.391 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=75.331757 2025-10-27T04:01:16.490Z,1761537676.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822831,-0.525697,-0.215849],[0.551618,0.830158,0.080969],[0.136624,-0.185690,0.973064]] 2025-10-27T04:01:16.541Z,1761537676.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:16.547Z,1761537676.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:16.550Z,1761537676.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 11.093984 m, bearing: 37.392512 deg, approach rate: -0.643016 m/s, LOS rate: -0.060757 deg/s, cmd heading: 32.795638 deg, new cmd heading: 32.716380 deg. 2025-10-27T04:01:16.555Z,1761537676.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571009 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:16.645Z,1761537676.645 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=75.585861 2025-10-27T04:01:16.896Z,1761537676.896 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=75.837410 2025-10-27T04:01:16.935Z,1761537676.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:16.938Z,1761537676.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 10.821189 m, bearing: 37.366086 deg, approach rate: -0.696010 m/s, LOS rate: -0.069123 deg/s, cmd heading: 32.716381 deg, new cmd heading: 32.635105 deg. 2025-10-27T04:01:16.939Z,1761537676.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569590 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:17.149Z,1761537677.149 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=76.090500 2025-10-27T04:01:17.331Z,1761537677.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:17.334Z,1761537677.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 10.555952 m, bearing: 37.339082 deg, approach rate: -0.669188 m/s, LOS rate: -0.069841 deg/s, cmd heading: 32.635105 deg, new cmd heading: 32.552059 deg. 2025-10-27T04:01:17.335Z,1761537677.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568141 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:17.402Z,1761537677.402 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=76.342392 2025-10-27T04:01:17.655Z,1761537677.655 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=76.595886 2025-10-27T04:01:17.755Z,1761537677.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822445,-0.526857,-0.214489],[0.552216,0.829974,0.078743],[0.136535,-0.183206,0.973547]] 2025-10-27T04:01:17.823Z,1761537677.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:17.826Z,1761537677.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 10.246426 m, bearing: 37.308152 deg, approach rate: -0.634305 m/s, LOS rate: -0.065300 deg/s, cmd heading: 32.552060 deg, new cmd heading: 32.456466 deg. 2025-10-27T04:01:17.831Z,1761537677.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566472 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:17.904Z,1761537677.904 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=76.845268 2025-10-27T04:01:18.156Z,1761537678.156 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=77.097168 2025-10-27T04:01:18.161Z,1761537678.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822322,-0.527232,-0.214039],[0.552371,0.829964,0.077758],[0.136649,-0.182171,0.973725]] 2025-10-27T04:01:18.231Z,1761537678.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:18.233Z,1761537678.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 9.974864 m, bearing: 37.279143 deg, approach rate: -0.659957 m/s, LOS rate: -0.072418 deg/s, cmd heading: 32.456465 deg, new cmd heading: 32.367068 deg. 2025-10-27T04:01:18.234Z,1761537678.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564912 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:18.408Z,1761537678.408 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=77.349106 2025-10-27T04:01:18.563Z,1761537678.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822444,-0.527226,-0.213587],[0.552218,0.830107,0.077319],[0.136535,-0.181537,0.973860]] 2025-10-27T04:01:18.598Z,1761537678.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:18.624Z,1761537678.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:18.631Z,1761537678.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 9.699219 m, bearing: 37.248963 deg, approach rate: -0.700535 m/s, LOS rate: -0.078879 deg/s, cmd heading: 32.367068 deg, new cmd heading: 32.273956 deg. 2025-10-27T04:01:18.632Z,1761537678.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563287 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:18.662Z,1761537678.662 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=77.603554 2025-10-27T04:01:18.912Z,1761537678.912 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=77.853073 2025-10-27T04:01:18.966Z,1761537678.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822275,-0.527678,-0.213119],[0.552453,0.830039,0.076366],[0.136600,-0.180533,0.974037]] 2025-10-27T04:01:19.001Z,1761537679.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:19.004Z,1761537679.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 9.436543 m, bearing: 37.218095 deg, approach rate: -0.696204 m/s, LOS rate: -0.084090 deg/s, cmd heading: 32.273955 deg, new cmd heading: 32.178774 deg. 2025-10-27T04:01:19.005Z,1761537679.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561626 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:19.164Z,1761537679.164 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=78.105057 2025-10-27T04:01:19.371Z,1761537679.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822004,-0.528163,-0.212963],[0.552836,0.829834,0.075812],[0.136683,-0.180051,0.974115]] 2025-10-27T04:01:19.392Z,1761537679.392 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:01:19.400Z,1761537679.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:19.403Z,1761537679.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 9.157845 m, bearing: 37.182580 deg, approach rate: -0.699118 m/s, LOS rate: -0.091802 deg/s, cmd heading: 32.178773 deg, new cmd heading: 32.068985 deg. 2025-10-27T04:01:19.404Z,1761537679.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559709 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:19.419Z,1761537679.419 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=78.359718 2025-10-27T04:01:19.669Z,1761537679.669 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=78.609634 2025-10-27T04:01:19.776Z,1761537679.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821938,-0.528315,-0.212839],[0.552918,0.829811,0.075470],[0.136744,-0.179714,0.974168]] 2025-10-27T04:01:19.839Z,1761537679.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:19.842Z,1761537679.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 8.880862 m, bearing: 37.152097 deg, approach rate: -0.631554 m/s, LOS rate: -0.071672 deg/s, cmd heading: 32.068985 deg, new cmd heading: 31.974685 deg. 2025-10-27T04:01:19.842Z,1761537679.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558064 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:19.921Z,1761537679.921 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=78.861832 2025-10-27T04:01:20.174Z,1761537680.174 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=79.115143 2025-10-27T04:01:20.203Z,1761537680.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822119,-0.528143,-0.212569],[0.552683,0.829974,0.075393],[0.136608,-0.179466,0.974233]] 2025-10-27T04:01:20.221Z,1761537680.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:20.224Z,1761537680.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 8.609054 m, bearing: 37.120820 deg, approach rate: -0.710732 m/s, LOS rate: -0.084368 deg/s, cmd heading: 31.974684 deg, new cmd heading: 31.877888 deg. 2025-10-27T04:01:20.225Z,1761537680.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556374 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:20.395Z,1761537680.395 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:01:20.424Z,1761537680.424 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=79.365089 2025-10-27T04:01:20.583Z,1761537680.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822775,-0.526675,-0.213671],[0.551597,0.830572,0.076748],[0.137048,-0.181007,0.973886]] 2025-10-27T04:01:20.638Z,1761537680.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:20.643Z,1761537680.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:20.646Z,1761537680.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 8.327630 m, bearing: 37.113815 deg, approach rate: -0.666956 m/s, LOS rate: -0.017161 deg/s, cmd heading: 31.877890 deg, new cmd heading: 31.856166 deg. 2025-10-27T04:01:20.647Z,1761537680.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555995 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:20.677Z,1761537680.677 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=79.618439 2025-10-27T04:01:20.928Z,1761537680.928 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=79.869087 2025-10-27T04:01:21.023Z,1761537681.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823480,-0.525525,-0.213786],[0.550531,0.831232,0.077260],[0.137104,-0.181318,0.973821]] 2025-10-27T04:01:21.041Z,1761537681.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:21.046Z,1761537681.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 8.058022 m, bearing: 37.109113 deg, approach rate: -0.676935 m/s, LOS rate: -0.012202 deg/s, cmd heading: 31.856166 deg, new cmd heading: 31.841587 deg. 2025-10-27T04:01:21.047Z,1761537681.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555741 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:21.181Z,1761537681.181 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=80.121819 2025-10-27T04:01:21.426Z,1761537681.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824468,-0.523851,-0.214086],[0.548997,0.832180,0.077972],[0.137312,-0.181818,0.973698]] 2025-10-27T04:01:21.433Z,1761537681.433 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=80.374229 2025-10-27T04:01:21.538Z,1761537681.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:21.545Z,1761537681.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 7.741221 m, bearing: 37.107472 deg, approach rate: -0.638039 m/s, LOS rate: -0.003440 deg/s, cmd heading: 31.841587 deg, new cmd heading: 31.836464 deg. 2025-10-27T04:01:21.546Z,1761537681.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555651 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:21.685Z,1761537681.685 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=80.626167 2025-10-27T04:01:21.936Z,1761537681.936 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=80.877205 2025-10-27T04:01:22.020Z,1761537682.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826216,-0.520215,-0.216204],[0.545942,0.834045,0.079478],[0.138978,-0.183701,0.973108]] 2025-10-27T04:01:22.056Z,1761537682.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:22.075Z,1761537682.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 7.373081 m, bearing: 37.055216 deg, approach rate: -0.709864 m/s, LOS rate: -0.105794 deg/s, cmd heading: 31.836465 deg, new cmd heading: 31.671868 deg. 2025-10-27T04:01:22.076Z,1761537682.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552778 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:22.189Z,1761537682.189 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=81.129929 2025-10-27T04:01:22.455Z,1761537682.455 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=81.396011 2025-10-27T04:01:22.536Z,1761537682.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827500,-0.517526,-0.217739],[0.543769,0.835297,0.081202],[0.139853,-0.185595,0.972623]] 2025-10-27T04:01:22.593Z,1761537682.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:22.617Z,1761537682.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 7.011305 m, bearing: 36.960846 deg, approach rate: -0.673883 m/s, LOS rate: -0.184854 deg/s, cmd heading: 31.671867 deg, new cmd heading: 31.374151 deg. 2025-10-27T04:01:22.618Z,1761537682.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547582 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:22.694Z,1761537682.694 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=81.634460 2025-10-27T04:01:22.944Z,1761537682.944 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=81.885170 2025-10-27T04:01:22.953Z,1761537682.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828684,-0.515076,-0.219041],[0.541611,0.836655,0.081644],[0.141209,-0.186292,0.972294]] 2025-10-27T04:01:22.993Z,1761537682.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:22.995Z,1761537682.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:22.997Z,1761537682.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 6.741109 m, bearing: 36.889405 deg, approach rate: -0.673320 m/s, LOS rate: -0.185164 deg/s, cmd heading: 31.374153 deg, new cmd heading: 31.151241 deg. 2025-10-27T04:01:22.998Z,1761537682.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543692 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:23.197Z,1761537683.197 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=82.138031 2025-10-27T04:01:23.354Z,1761537683.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829507,-0.512967,-0.220870],[0.539911,0.837704,0.082154],[0.142881,-0.187397,0.971837]] 2025-10-27T04:01:23.373Z,1761537683.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:23.392Z,1761537683.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 6.486027 m, bearing: 36.820708 deg, approach rate: -0.674459 m/s, LOS rate: -0.188785 deg/s, cmd heading: 31.151239 deg, new cmd heading: 30.937044 deg. 2025-10-27T04:01:23.393Z,1761537683.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539953 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:23.448Z,1761537683.448 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=82.389320 2025-10-27T04:01:23.700Z,1761537683.700 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=82.641495 2025-10-27T04:01:23.759Z,1761537683.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830222,-0.511358,-0.221911],[0.538390,0.838747,0.081487],[0.144458,-0.187127,0.971656]] 2025-10-27T04:01:23.802Z,1761537683.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:23.805Z,1761537683.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 6.201549 m, bearing: 36.694928 deg, approach rate: -0.662718 m/s, LOS rate: -0.306456 deg/s, cmd heading: 30.937045 deg, new cmd heading: 30.542403 deg. 2025-10-27T04:01:23.806Z,1761537683.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533065 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:23.952Z,1761537683.952 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=82.893372 2025-10-27T04:01:24.162Z,1761537684.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830809,-0.509837,-0.223212],[0.537027,0.839671,0.080960],[0.146148,-0.187133,0.971402]] 2025-10-27T04:01:24.204Z,1761537684.204 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=83.145081 2025-10-27T04:01:24.212Z,1761537684.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:24.219Z,1761537684.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 5.944315 m, bearing: 36.574417 deg, approach rate: -0.627000 m/s, LOS rate: -0.306453 deg/s, cmd heading: 30.542403 deg, new cmd heading: 30.165232 deg. 2025-10-27T04:01:24.220Z,1761537684.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526483 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:24.457Z,1761537684.457 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=83.397667 2025-10-27T04:01:24.593Z,1761537684.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831435,-0.507999,-0.225061],[0.535598,0.840540,0.081407],[0.147818,-0.188227,0.970938]] 2025-10-27T04:01:24.642Z,1761537684.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:24.644Z,1761537684.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 5.643368 m, bearing: 36.363247 deg, approach rate: -0.701152 m/s, LOS rate: -0.518223 deg/s, cmd heading: 30.165230 deg, new cmd heading: 29.497967 deg. 2025-10-27T04:01:24.645Z,1761537684.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514837 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:24.709Z,1761537684.709 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=83.649910 2025-10-27T04:01:24.960Z,1761537684.960 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=83.901062 2025-10-27T04:01:24.984Z,1761537684.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831908,-0.506447,-0.226804],[0.534388,0.841299,0.081516],[0.149527,-0.189015,0.970523]] 2025-10-27T04:01:25.001Z,1761537685.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:25.003Z,1761537685.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:25.006Z,1761537685.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 5.402727 m, bearing: 36.180631 deg, approach rate: -0.666024 m/s, LOS rate: -0.527937 deg/s, cmd heading: 29.497968 deg, new cmd heading: 28.925741 deg. 2025-10-27T04:01:25.007Z,1761537685.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504849 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:25.212Z,1761537685.212 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=84.153069 2025-10-27T04:01:25.373Z,1761537685.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832178,-0.505141,-0.228719],[0.533438,0.841907,0.081468],[0.151407,-0.189803,0.970078]] 2025-10-27T04:01:25.417Z,1761537685.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:25.420Z,1761537685.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 5.138591 m, bearing: 35.963156 deg, approach rate: -0.638370 m/s, LOS rate: -0.552615 deg/s, cmd heading: 28.925742 deg, new cmd heading: 28.239815 deg. 2025-10-27T04:01:25.421Z,1761537685.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492878 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:25.466Z,1761537685.466 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=84.406700 2025-10-27T04:01:25.717Z,1761537685.717 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=84.657463 2025-10-27T04:01:25.844Z,1761537685.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:25.847Z,1761537685.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 4.840852 m, bearing: 35.625164 deg, approach rate: -0.696424 m/s, LOS rate: -0.839200 deg/s, cmd heading: 28.239815 deg, new cmd heading: 27.163605 deg. 2025-10-27T04:01:25.848Z,1761537685.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474094 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:25.968Z,1761537685.968 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=84.909195 2025-10-27T04:01:26.192Z,1761537686.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833047,-0.502190,-0.232031],[0.531078,0.843416,0.081275],[0.154883,-0.190933,0.969307]] 2025-10-27T04:01:26.217Z,1761537686.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:26.220Z,1761537686.220 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=85.161499 2025-10-27T04:01:26.222Z,1761537686.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 4.591226 m, bearing: 35.315461 deg, approach rate: -0.668600 m/s, LOS rate: -0.874605 deg/s, cmd heading: 27.163604 deg, new cmd heading: 26.184080 deg. 2025-10-27T04:01:26.223Z,1761537686.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456998 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:26.473Z,1761537686.473 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=85.414146 2025-10-27T04:01:26.620Z,1761537686.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833443,-0.500364,-0.234537],[0.529915,0.844037,0.082409],[0.156724,-0.192968,0.968608]] 2025-10-27T04:01:26.698Z,1761537686.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:26.724Z,1761537686.724 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=85.665565 2025-10-27T04:01:26.739Z,1761537686.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 4.288890 m, bearing: 34.893935 deg, approach rate: -0.629802 m/s, LOS rate: -0.939980 deg/s, cmd heading: 26.184080 deg, new cmd heading: 24.830622 deg. 2025-10-27T04:01:26.740Z,1761537686.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433376 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:26.976Z,1761537686.976 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=85.917084 2025-10-27T04:01:26.991Z,1761537686.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834443,-0.497417,-0.237237],[0.527755,0.845223,0.084105],[0.158683,-0.195384,0.967804]] 2025-10-27T04:01:27.020Z,1761537687.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:27.022Z,1761537687.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:27.029Z,1761537687.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 4.065481 m, bearing: 34.549656 deg, approach rate: -0.687706 m/s, LOS rate: -1.118001 deg/s, cmd heading: 24.830622 deg, new cmd heading: 23.741168 deg. 2025-10-27T04:01:27.030Z,1761537687.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414362 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:27.232Z,1761537687.232 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=86.172707 2025-10-27T04:01:27.396Z,1761537687.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835716,-0.494603,-0.238637],[0.525228,0.846773,0.084332],[0.160361,-0.195816,0.967440]] 2025-10-27T04:01:27.414Z,1761537687.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:27.417Z,1761537687.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 3.797363 m, bearing: 34.094246 deg, approach rate: -0.683982 m/s, LOS rate: -1.243789 deg/s, cmd heading: 23.741169 deg, new cmd heading: 22.278805 deg. 2025-10-27T04:01:27.418Z,1761537687.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.388838 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:27.481Z,1761537687.481 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=86.422066 2025-10-27T04:01:27.732Z,1761537687.732 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=86.673050 2025-10-27T04:01:27.797Z,1761537687.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837133,-0.490461,-0.242192],[0.522342,0.848207,0.087771],[0.162381,-0.199983,0.966250]] 2025-10-27T04:01:27.848Z,1761537687.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:27.852Z,1761537687.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 3.508201 m, bearing: 33.644086 deg, approach rate: -0.666702 m/s, LOS rate: -1.123445 deg/s, cmd heading: 22.278805 deg, new cmd heading: 20.817344 deg. 2025-10-27T04:01:27.853Z,1761537687.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.363331 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:27.986Z,1761537687.986 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=86.926788 2025-10-27T04:01:28.202Z,1761537688.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839205,-0.484973,-0.246043],[0.518295,0.850252,0.091880],[0.164640,-0.204629,0.964894]] 2025-10-27T04:01:28.233Z,1761537688.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:28.236Z,1761537688.236 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=87.177223 2025-10-27T04:01:28.238Z,1761537688.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 3.250411 m, bearing: 33.196553 deg, approach rate: -0.669381 m/s, LOS rate: -1.254217 deg/s, cmd heading: 20.817344 deg, new cmd heading: 19.368588 deg. 2025-10-27T04:01:28.239Z,1761537688.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.338046 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:28.488Z,1761537688.488 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=87.429382 2025-10-27T04:01:28.740Z,1761537688.740 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=87.681252 2025-10-27T04:01:28.764Z,1761537688.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:28.766Z,1761537688.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 2.912354 m, bearing: 32.751854 deg, approach rate: -0.637174 m/s, LOS rate: -0.935456 deg/s, cmd heading: 19.368588 deg, new cmd heading: 17.879984 deg. 2025-10-27T04:01:28.768Z,1761537688.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312065 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:28.993Z,1761537688.993 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=87.933548 2025-10-27T04:01:29.095Z,1761537689.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845775,-0.468486,-0.255316],[0.505993,0.856081,0.105337],[0.169222,-0.218279,0.961102]] 2025-10-27T04:01:29.120Z,1761537689.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:29.122Z,1761537689.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:29.133Z,1761537689.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 2.659320 m, bearing: 32.425152 deg, approach rate: -0.706605 m/s, LOS rate: -0.999130 deg/s, cmd heading: 17.879984 deg, new cmd heading: 16.806753 deg. 2025-10-27T04:01:29.134Z,1761537689.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.293333 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:29.244Z,1761537689.244 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=88.185127 2025-10-27T04:01:29.496Z,1761537689.496 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=88.437134 2025-10-27T04:01:29.509Z,1761537689.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849716,-0.459038,-0.259358],[0.498487,0.859684,0.111600],[0.171737,-0.224115,0.959312]] 2025-10-27T04:01:29.547Z,1761537689.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:29.550Z,1761537689.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 2.389330 m, bearing: 32.057448 deg, approach rate: -0.666197 m/s, LOS rate: -1.009823 deg/s, cmd heading: 16.806753 deg, new cmd heading: 15.579185 deg. 2025-10-27T04:01:29.551Z,1761537689.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.271908 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:29.748Z,1761537689.748 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=88.689011 2025-10-27T04:01:29.000Z,1761537690.000 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=88.941101 2025-10-27T04:01:30.030Z,1761537690.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:30.037Z,1761537690.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 2.066626 m, bearing: 31.766798 deg, approach rate: -0.641907 m/s, LOS rate: -0.668422 deg/s, cmd heading: 15.579185 deg, new cmd heading: 14.571188 deg. 2025-10-27T04:01:30.038Z,1761537690.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254315 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:30.252Z,1761537690.252 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=89.193230 2025-10-27T04:01:30.308Z,1761537690.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860132,-0.433449,-0.268876],[0.478003,0.868931,0.128345],[0.178004,-0.238917,0.954585]] 2025-10-27T04:01:30.337Z,1761537690.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:30.341Z,1761537690.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 1.851906 m, bearing: 31.674930 deg, approach rate: -0.699022 m/s, LOS rate: -0.333752 deg/s, cmd heading: 14.571187 deg, new cmd heading: 14.263632 deg. 2025-10-27T04:01:30.342Z,1761537690.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.248947 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:30.504Z,1761537690.504 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=89.445030 2025-10-27T04:01:30.717Z,1761537690.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866101,-0.418637,-0.273153],[0.465841,0.874144,0.137348],[0.181276,-0.246203,0.952115]] 2025-10-27T04:01:30.756Z,1761537690.756 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=89.697182 2025-10-27T04:01:30.804Z,1761537690.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:30.806Z,1761537690.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 1.573473 m, bearing: 32.075729 deg, approach rate: -0.596697 m/s, LOS rate: 1.010916 deg/s, cmd heading: 14.263633 deg, new cmd heading: 15.678502 deg. 2025-10-27T04:01:30.816Z,1761537690.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273641 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:31.008Z,1761537691.008 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=89.949112 2025-10-27T04:01:31.127Z,1761537691.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872837,-0.400968,-0.278172],[0.451564,0.879743,0.148803],[0.185055,-0.255493,0.948935]] 2025-10-27T04:01:31.180Z,1761537691.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:31.191Z,1761537691.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:31.200Z,1761537691.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 1.340213 m, bearing: 32.700852 deg, approach rate: -0.608231 m/s, LOS rate: 1.913687 deg/s, cmd heading: 15.678501 deg, new cmd heading: 17.879144 deg. 2025-10-27T04:01:31.201Z,1761537691.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312050 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:31.261Z,1761537691.261 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=90.201950 2025-10-27T04:01:31.512Z,1761537691.512 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=90.453354 2025-10-27T04:01:31.529Z,1761537691.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880013,-0.382619,-0.281390],[0.435894,0.885916,0.158584],[0.188611,-0.262213,0.946399]] 2025-10-27T04:01:31.657Z,1761537691.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:31.680Z,1761537691.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 1.043822 m, bearing: 34.188179 deg, approach rate: -0.661803 m/s, LOS rate: 4.263516 deg/s, cmd heading: 17.879144 deg, new cmd heading: 23.588482 deg. 2025-10-27T04:01:31.682Z,1761537691.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411697 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:31.765Z,1761537691.765 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=90.706108 2025-10-27T04:01:32.016Z,1761537692.016 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=90.957069 2025-10-27T04:01:32.203Z,1761537692.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894216,-0.343288,-0.287281],[0.402383,0.897627,0.179869],[0.196125,-0.276439,0.940806]] 2025-10-27T04:01:32.247Z,1761537692.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:32.248Z,1761537692.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.904612 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg. 2025-10-27T04:01:32.249Z,1761537692.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:32.268Z,1761537692.268 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=91.209122 2025-10-27T04:01:32.520Z,1761537692.520 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=91.461433 2025-10-27T04:01:32.590Z,1761537692.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901021,-0.323896,-0.288536],[0.385124,0.903404,0.188522],[0.199603,-0.280984,0.938726]] 2025-10-27T04:01:32.608Z,1761537692.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:32.609Z,1761537692.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 32.311353 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg. 2025-10-27T04:01:32.610Z,1761537692.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:32.772Z,1761537692.772 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=91.713303 2025-10-27T04:01:32.998Z,1761537692.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907407,-0.305797,-0.288272],[0.368170,0.909202,0.194430],[0.202641,-0.282560,0.937601]] 2025-10-27T04:01:33.024Z,1761537693.024 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=91.965187 2025-10-27T04:01:33.049Z,1761537693.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:33.052Z,1761537693.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 131.868946 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg. 2025-10-27T04:01:33.052Z,1761537693.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:33.276Z,1761537693.276 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=92.217155 2025-10-27T04:01:33.394Z,1761537693.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913244,-0.289131,-0.287035],[0.352016,0.914674,0.198637],[0.205111,-0.282445,0.937099]] 2025-10-27T04:01:33.418Z,1761537693.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:33.420Z,1761537693.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:33.421Z,1761537693.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 156.052601 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg. 2025-10-27T04:01:33.422Z,1761537693.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:33.529Z,1761537693.529 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=92.469406 2025-10-27T04:01:33.780Z,1761537693.780 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=92.721046 2025-10-27T04:01:33.803Z,1761537693.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918142,-0.275654,-0.284659],[0.337878,0.919916,0.198979],[0.207014,-0.278871,0.937751]] 2025-10-27T04:01:33.840Z,1761537693.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:33.841Z,1761537693.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 38.300826 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg. 2025-10-27T04:01:33.842Z,1761537693.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:34.032Z,1761537694.032 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=92.973152 2025-10-27T04:01:34.202Z,1761537694.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921806,-0.267058,-0.280986],[0.326939,0.925053,0.193361],[0.208289,-0.270107,0.940031]] 2025-10-27T04:01:34.227Z,1761537694.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:34.228Z,1761537694.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.946732 deg/s. Setting heading cmd to target acoustic bearing of 41.348417 deg. 2025-10-27T04:01:34.229Z,1761537694.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721666 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:34.285Z,1761537694.285 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=93.225815 2025-10-27T04:01:34.536Z,1761537694.536 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=93.477089 2025-10-27T04:01:34.605Z,1761537694.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924495,-0.261550,-0.277310],[0.318704,0.929453,0.185862],[0.209134,-0.260208,0.942632]] 2025-10-27T04:01:34.647Z,1761537694.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:34.654Z,1761537694.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 0.878437 m, bearing: 194.171421 deg, approach rate: 0.590850 m/s, LOS rate: 7.112108 deg/s, cmd heading: 41.348418 deg, new cmd heading: 50.220226 deg. 2025-10-27T04:01:34.657Z,1761537694.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876508 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:34.789Z,1761537694.789 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=93.729996 2025-10-27T04:01:35.009Z,1761537695.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926535,-0.257899,-0.273898],[0.311938,0.933638,0.176112],[0.210302,-0.248614,0.945497]] 2025-10-27T04:01:35.040Z,1761537695.040 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=93.981171 2025-10-27T04:01:35.068Z,1761537695.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:35.070Z,1761537695.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 1.156144 m, bearing: 197.679242 deg, approach rate: 0.658407 m/s, LOS rate: 6.314990 deg/s, cmd heading: 50.220226 deg, new cmd heading: 58.159738 deg. 2025-10-27T04:01:35.072Z,1761537695.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015079 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:35.292Z,1761537695.292 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=94.233032 2025-10-27T04:01:35.415Z,1761537695.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927754,-0.257229,-0.270381],[0.307816,0.937082,0.164705],[0.211002,-0.236033,0.948560]] 2025-10-27T04:01:35.431Z,1761537695.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:35.433Z,1761537695.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:35.436Z,1761537695.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 1.389299 m, bearing: 199.478016 deg, approach rate: 0.637740 m/s, LOS rate: 4.093738 deg/s, cmd heading: 58.159737 deg, new cmd heading: 62.640543 deg. 2025-10-27T04:01:35.437Z,1761537695.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093284 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:35.545Z,1761537695.545 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=94.485977 2025-10-27T04:01:35.796Z,1761537695.796 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=94.737076 2025-10-27T04:01:35.823Z,1761537695.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927966,-0.260813,-0.266186],[0.307175,0.939743,0.150088],[0.211002,-0.221042,0.952165]] 2025-10-27T04:01:35.880Z,1761537695.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:35.887Z,1761537695.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 1.659203 m, bearing: 201.433478 deg, approach rate: 0.604099 m/s, LOS rate: 3.664035 deg/s, cmd heading: 62.640546 deg, new cmd heading: 67.539712 deg. 2025-10-27T04:01:35.888Z,1761537695.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178790 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:36.048Z,1761537696.048 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=94.989120 2025-10-27T04:01:36.257Z,1761537696.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:36.259Z,1761537696.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 1.911186 m, bearing: 202.753807 deg, approach rate: 0.669238 m/s, LOS rate: 3.044038 deg/s, cmd heading: 67.539711 deg, new cmd heading: 70.974034 deg. 2025-10-27T04:01:36.260Z,1761537696.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238731 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:36.301Z,1761537696.301 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=95.241676 2025-10-27T04:01:36.552Z,1761537696.552 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=95.493073 2025-10-27T04:01:36.627Z,1761537696.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924405,-0.282743,-0.255991],[0.318357,0.941614,0.109601],[0.210056,-0.182813,0.960446]] 2025-10-27T04:01:36.661Z,1761537696.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:36.666Z,1761537696.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 2.158005 m, bearing: 203.827531 deg, approach rate: 0.609793 m/s, LOS rate: 2.349205 deg/s, cmd heading: 70.974032 deg, new cmd heading: 73.824265 deg. 2025-10-27T04:01:36.669Z,1761537696.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288476 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:36.809Z,1761537696.809 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=95.749664 2025-10-27T04:01:37.030Z,1761537697.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920244,-0.302317,-0.248507],[0.330886,0.940137,0.081595],[0.208963,-0.157314,0.965187]] 2025-10-27T04:01:37.068Z,1761537697.068 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=96.009224 2025-10-27T04:01:37.089Z,1761537697.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:37.096Z,1761537697.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 2.450443 m, bearing: 205.091551 deg, approach rate: 0.684007 m/s, LOS rate: 2.603479 deg/s, cmd heading: 73.824264 deg, new cmd heading: 77.159733 deg. 2025-10-27T04:01:37.097Z,1761537697.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346691 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:37.320Z,1761537697.320 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=96.261169 2025-10-27T04:01:37.434Z,1761537697.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913980,-0.328315,-0.238429],[0.348505,0.936133,0.046889],[0.207807,-0.125949,0.970027]] 2025-10-27T04:01:37.466Z,1761537697.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:37.469Z,1761537697.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:37.472Z,1761537697.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 2.699856 m, bearing: 206.058908 deg, approach rate: 0.656579 m/s, LOS rate: 2.311206 deg/s, cmd heading: 77.159732 deg, new cmd heading: 79.791731 deg. 2025-10-27T04:01:37.473Z,1761537697.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392628 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:37.573Z,1761537697.573 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=96.513901 2025-10-27T04:01:37.824Z,1761537697.824 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=96.765106 2025-10-27T04:01:37.844Z,1761537697.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905587,-0.359553,-0.225019],[0.370586,0.928769,0.007361],[0.206344,-0.090055,0.974327]] 2025-10-27T04:01:37.900Z,1761537697.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:37.907Z,1761537697.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 2.987855 m, bearing: 207.015208 deg, approach rate: 0.667891 m/s, LOS rate: 2.003868 deg/s, cmd heading: 79.791732 deg, new cmd heading: 82.382211 deg. 2025-10-27T04:01:37.908Z,1761537697.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437841 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:38.076Z,1761537698.076 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=97.017067 2025-10-27T04:01:38.242Z,1761537698.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895286,-0.393948,-0.208009],[0.395836,0.917681,-0.034291],[0.204395,-0.051637,0.977526]] 2025-10-27T04:01:38.260Z,1761537698.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:38.279Z,1761537698.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 3.243217 m, bearing: 207.853670 deg, approach rate: 0.708315 m/s, LOS rate: 2.142500 deg/s, cmd heading: 82.382211 deg, new cmd heading: 84.698198 deg. 2025-10-27T04:01:38.280Z,1761537698.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478262 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:38.328Z,1761537698.328 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=97.269165 2025-10-27T04:01:38.585Z,1761537698.585 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=97.526329 2025-10-27T04:01:38.655Z,1761537698.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883135,-0.429668,-0.188300],[0.423397,0.902879,-0.074465],[0.202008,-0.013963,0.979284]] 2025-10-27T04:01:38.682Z,1761537698.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:38.685Z,1761537698.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 3.525292 m, bearing: 208.785609 deg, approach rate: 0.669616 m/s, LOS rate: 2.035215 deg/s, cmd heading: 84.698198 deg, new cmd heading: 87.268469 deg. 2025-10-27T04:01:38.685Z,1761537698.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.523122 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:38.836Z,1761537698.836 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=97.777290 2025-10-27T04:01:39.050Z,1761537699.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869749,-0.463668,-0.168962],[0.451211,0.885828,-0.108248],[0.199862,0.017911,0.979660]] 2025-10-27T04:01:39.088Z,1761537699.088 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=98.029137 2025-10-27T04:01:39.112Z,1761537699.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:39.119Z,1761537699.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 3.798055 m, bearing: 209.369730 deg, approach rate: 0.633295 m/s, LOS rate: 1.258779 deg/s, cmd heading: 87.268466 deg, new cmd heading: 88.894517 deg. 2025-10-27T04:01:39.120Z,1761537699.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551502 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:39.340Z,1761537699.340 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=98.281364 2025-10-27T04:01:39.457Z,1761537699.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855539,-0.495412,-0.150398],[0.478581,0.867553,-0.135318],[0.197516,0.043792,0.979321]] 2025-10-27T04:01:39.473Z,1761537699.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:39.475Z,1761537699.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:39.478Z,1761537699.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 4.056185 m, bearing: 209.967610 deg, approach rate: 0.711896 m/s, LOS rate: 1.543929 deg/s, cmd heading: 88.894516 deg, new cmd heading: 90.573499 deg. 2025-10-27T04:01:39.479Z,1761537699.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.580806 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:39.592Z,1761537699.592 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=98.533165 2025-10-27T04:01:39.844Z,1761537699.844 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=98.785065 2025-10-27T04:01:39.859Z,1761537699.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840870,-0.524269,-0.134462],[0.504619,0.849228,-0.155471],[0.195698,0.062878,0.978646]] 2025-10-27T04:01:39.915Z,1761537699.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:39.918Z,1761537699.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 4.330332 m, bearing: 210.391258 deg, approach rate: 0.628669 m/s, LOS rate: 0.909990 deg/s, cmd heading: 90.573499 deg, new cmd heading: 91.763800 deg. 2025-10-27T04:01:39.923Z,1761537699.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.601581 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:40.096Z,1761537700.096 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=99.037170 2025-10-27T04:01:40.261Z,1761537700.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825893,-0.550770,-0.120642],[0.529295,0.831085,-0.170719],[0.194290,0.077140,0.977906]] 2025-10-27T04:01:40.279Z,1761537700.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:40.282Z,1761537700.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 4.580230 m, bearing: 210.826976 deg, approach rate: 0.678344 m/s, LOS rate: 1.118208 deg/s, cmd heading: 91.763803 deg, new cmd heading: 92.999436 deg. 2025-10-27T04:01:40.283Z,1761537700.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623146 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:40.349Z,1761537700.349 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=99.290466 2025-10-27T04:01:40.600Z,1761537700.600 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=99.541084 2025-10-27T04:01:40.675Z,1761537700.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810763,-0.574895,-0.110268],[0.552590,0.813810,-0.179884],[0.193152,0.084910,0.977488]] 2025-10-27T04:01:40.697Z,1761537700.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:40.701Z,1761537700.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 4.848864 m, bearing: 211.336823 deg, approach rate: 0.643734 m/s, LOS rate: 1.154055 deg/s, cmd heading: 92.999432 deg, new cmd heading: 94.443908 deg. 2025-10-27T04:01:40.703Z,1761537700.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648357 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:40.852Z,1761537700.852 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=99.793015 2025-10-27T04:01:41.073Z,1761537701.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795461,-0.596977,-0.104210],[0.574635,0.797659,-0.183124],[0.192445,0.085786,0.977551]] 2025-10-27T04:01:41.104Z,1761537701.104 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=100.045158 2025-10-27T04:01:41.122Z,1761537701.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:41.125Z,1761537701.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 5.113065 m, bearing: 211.648786 deg, approach rate: 0.621581 m/s, LOS rate: 0.696025 deg/s, cmd heading: 94.443908 deg, new cmd heading: 95.331365 deg. 2025-10-27T04:01:41.126Z,1761537701.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663846 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:41.357Z,1761537701.357 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=100.297874 2025-10-27T04:01:41.473Z,1761537701.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780318,-0.617335,-0.100008],[0.595262,0.782208,-0.183885],[0.191745,0.083958,0.977847]] 2025-10-27T04:01:41.490Z,1761537701.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:41.492Z,1761537701.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:41.496Z,1761537701.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 5.340534 m, bearing: 211.956812 deg, approach rate: 0.613844 m/s, LOS rate: 0.795824 deg/s, cmd heading: 95.331368 deg, new cmd heading: 96.216011 deg. 2025-10-27T04:01:41.497Z,1761537701.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679286 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:41.611Z,1761537701.611 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=100.551727 2025-10-27T04:01:41.861Z,1761537701.861 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:01:41.861Z,1761537701.861 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:01:41.901Z,1761537701.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765441,-0.635994,-0.098042],[0.614453,0.767612,-0.182262],[0.191176,0.079268,0.978350]] 2025-10-27T04:01:41.962Z,1761537701.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:41.965Z,1761537701.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 5.616349 m, bearing: 212.208129 deg, approach rate: 0.587012 m/s, LOS rate: 0.508604 deg/s, cmd heading: 96.216014 deg, new cmd heading: 96.932899 deg. 2025-10-27T04:01:41.966Z,1761537701.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.691798 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:42.112Z,1761537702.112 [DAT](INFO): DAT read: 2025-10-27T04:01:42.113Z,1761537702.113 [DAT](INFO): DAT read: Tx time:04:01:41.1811 2025-10-27T04:01:42.113Z,1761537702.113 [DAT](INFO): Ping request sent. 2025-10-27T04:01:42.113Z,1761537702.113 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:01:42.113Z,1761537702.113 [DAT](INFO): publishing transmit ping time 2025-10-27T04:01:42.114Z,1761537702.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761 2025-10-27T04:01:42.299Z,1761537702.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750426,-0.653797,-0.097000],[0.632870,0.753086,-0.179824],[0.190618,0.073556,0.978905]] 2025-10-27T04:01:42.333Z,1761537702.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:42.340Z,1761537702.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 5.823856 m, bearing: 212.431155 deg, approach rate: 0.559532 m/s, LOS rate: 0.579949 deg/s, cmd heading: 96.932897 deg, new cmd heading: 97.578107 deg. 2025-10-27T04:01:42.341Z,1761537702.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.703059 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:42.364Z,1761537702.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251068 2025-10-27T04:01:42.616Z,1761537702.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502855 2025-10-27T04:01:42.768Z,1761537702.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735401,-0.670797,-0.096008],[0.650483,0.738518,-0.177378],[0.189888,0.067992,0.979449]] 2025-10-27T04:01:42.792Z,1761537702.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:42.818Z,1761537702.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 6.099779 m, bearing: 212.765789 deg, approach rate: 0.603669 m/s, LOS rate: 0.698996 deg/s, cmd heading: 97.578104 deg, new cmd heading: 98.536498 deg. 2025-10-27T04:01:42.822Z,1761537702.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.719786 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:42.868Z,1761537702.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755113 2025-10-27T04:01:43.120Z,1761537703.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006986 2025-10-27T04:01:43.253Z,1761537703.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:43.256Z,1761537703.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 6.348898 m, bearing: 213.005128 deg, approach rate: 0.559870 m/s, LOS rate: 0.516783 deg/s, cmd heading: 98.536496 deg, new cmd heading: 99.226304 deg. 2025-10-27T04:01:43.257Z,1761537703.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.731826 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:43.372Z,1761537703.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258851 2025-10-27T04:01:43.574Z,1761537703.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705034,-0.702983,-0.093501],[0.683700,0.708795,-0.173678],[0.188365,0.058522,0.980354]] 2025-10-27T04:01:43.598Z,1761537703.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:43.617Z,1761537703.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:43.624Z,1761537703.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511245 2025-10-27T04:01:43.626Z,1761537703.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 6.552578 m, bearing: 213.270562 deg, approach rate: 0.533456 m/s, LOS rate: 0.673585 deg/s, cmd heading: 99.226304 deg, new cmd heading: 99.997806 deg. 2025-10-27T04:01:43.627Z,1761537703.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745291 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:43.876Z,1761537703.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762896 2025-10-27T04:01:43.982Z,1761537703.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689232,-0.718812,-0.090934],[0.699840,0.692962,-0.173286],[0.187574,0.055795,0.980665]] 2025-10-27T04:01:44.035Z,1761537704.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:44.038Z,1761537704.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 6.793777 m, bearing: 213.651246 deg, approach rate: 0.577346 m/s, LOS rate: 0.878868 deg/s, cmd heading: 99.997808 deg, new cmd heading: 101.099169 deg. 2025-10-27T04:01:44.039Z,1761537704.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764513 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:44.128Z,1761537704.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014948 2025-10-27T04:01:44.380Z,1761537704.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267308 2025-10-27T04:01:44.421Z,1761537704.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655502,-0.750678,-0.082459],[0.731898,0.658394,-0.175619],[0.186124,0.054767,0.980999]] 2025-10-27T04:01:44.489Z,1761537704.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m. 2025-10-27T04:01:44.508Z,1761537704.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.660172 m, nav range: 7.017191 m, bearing: 214.070199 deg, approach rate: 0.494803 m/s, LOS rate: 0.898321 deg/s, cmd heading: 101.099169 deg, new cmd heading: 102.315819 deg. 2025-10-27T04:01:44.509Z,1761537704.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785748 target range: 33.660172 and range: 33.80 m. 2025-10-27T04:01:44.635Z,1761537704.635 [DAT](INFO): DAT read: Rx Time:04:01:43.3260 2025-10-27T04:01:44.636Z,1761537704.636 [DAT](INFO): Rx dataTimestamp_ set to:1761537704.635237 2025-10-27T04:01:44.638Z,1761537704.638 [DAT](INFO): DAT read: Bearing 314.8, 33.0 (Local) 2025-10-27T04:01:44.639Z,1761537704.639 [DAT](INFO): Local bearing/azimuth received: Bearing 314.8, 33.0 (Local) 2025-10-27T04:01:44.642Z,1761537704.642 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4 2025-10-27T04:01:44.649Z,1761537704.649 [DAT](INFO): DAT read: 04:01:43.3260 LVL= 19952, 26145, 32754, 32755, AGC= 66, IDX= 397, 0.09,-0.770,-0.810,-1.806,-0.014, PHS=-0.654,-0.751,-1.836, RAW= 34.2, 45.2, CAL= 32.4, 50.3, ROT= 117.6, -50.3 2025-10-27T04:01:44.652Z,1761537704.652 [DAT](INFO): got valid direction response: 04:01:43.3260 LVL= 19952, 26145, 32754, 32755, AGC= 66, IDX= 397, 0.09,-0.770,-0.810,-1.806,-0.014, PHS=-0.654,-0.751,-1.836, RAW= 34.2, 45.2, CAL= 32.4, 50.3, ROT= 117.6, -50.3 2025-10-27T04:01:44.652Z,1761537704.652 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:01:44.654Z,1761537704.654 [DAT](INFO): direction in FSK: [-0.295939,0.566078,0.769400] 2025-10-27T04:01:44.655Z,1761537704.655 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:44.662Z,1761537704.662 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.549114 2025-10-27T04:01:44.862Z,1761537704.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638267,-0.765978,-0.076766],[0.747179,0.640416,-0.177739],[0.185306,0.056087,0.981079]] 2025-10-27T04:01:44.888Z,1761537704.888 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.773742 2025-10-27T04:01:44.926Z,1761537704.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 59.262223 s, deltaX: -21.900000 m, approachRate: -0.369544 m/s, rangeRepo size: 4 2025-10-27T04:01:44.928Z,1761537704.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.849660 m, bearing: 179.608746 deg, lat: 36.779358 deg, lon: -121.859540 deg, deltaT: 59.262223 s, deltaX: -21.810513 m, approachRate: -0.368034 m/s, posRepo size: 4 2025-10-27T04:01:44.929Z,1761537704.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.85 m. 2025-10-27T04:01:44.932Z,1761537704.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.849660 m, nav range: 7.488224 m, bearing: 206.229315 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 102.315817 deg, new cmd heading: 103.498353 deg. 2025-10-27T04:01:44.933Z,1761537704.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806387 target range: 11.849660 and range: 11.90 m. 2025-10-27T04:01:45.138Z,1761537705.138 [DAT](INFO): DAT read: Rx Time:04:01:43.8260 2025-10-27T04:01:45.139Z,1761537705.139 [DAT](INFO): Rx dataTimestamp_ set to:1761537705.138226 2025-10-27T04:01:45.141Z,1761537705.141 [DAT](INFO): DAT read: Bearing 320.5, 30.6 (Local) 2025-10-27T04:01:45.141Z,1761537705.141 [DAT](INFO): Local bearing/azimuth received: Bearing 320.5, 30.6 (Local) 2025-10-27T04:01:45.147Z,1761537705.147 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4 2025-10-27T04:01:45.154Z,1761537705.154 [DAT](INFO): DAT read: 04:01:43.8260 LVL= 18384, 24097, 32338, 32755, AGC= 65, IDX= 509, 0.35,-0.757,-0.648,-1.825, 0.098, PHS=-0.753,-0.701,-1.967, RAW= 27.9, 44.3, CAL= 26.2, 49.3, ROT= 123.8, -49.3 2025-10-27T04:01:45.160Z,1761537705.160 [DAT](INFO): got valid direction response: 04:01:43.8260 LVL= 18384, 24097, 32338, 32755, AGC= 65, IDX= 509, 0.35,-0.757,-0.648,-1.825, 0.098, PHS=-0.753,-0.701,-1.967, RAW= 27.9, 44.3, CAL= 26.2, 49.3, ROT= 123.8, -49.3 2025-10-27T04:01:45.162Z,1761537705.162 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:01:45.164Z,1761537705.164 [DAT](INFO): direction in FSK: [-0.362760,0.541884,0.758134] 2025-10-27T04:01:45.164Z,1761537705.164 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:45.168Z,1761537705.168 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.055053 2025-10-27T04:01:45.279Z,1761537705.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620248,-0.781165,-0.071233],[0.762359,0.621703,-0.179706],[0.184665,0.057157,0.981138]] 2025-10-27T04:01:45.388Z,1761537705.388 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275072 2025-10-27T04:01:45.392Z,1761537705.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.502989 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:01:45.394Z,1761537705.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.849660 m, bearing: 186.168444 deg, lat: 36.779351 deg, lon: -121.859535 deg, deltaT: 0.502989 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:01:45.394Z,1761537705.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.85 m. 2025-10-27T04:01:45.401Z,1761537705.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.849660 m, nav range: 8.224703 m, bearing: 201.717612 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 103.498355 deg, new cmd heading: 104.741481 deg. 2025-10-27T04:01:45.402Z,1761537705.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.828084 target range: 11.849660 and range: 11.90 m. 2025-10-27T04:01:45.642Z,1761537705.642 [DAT](INFO): DAT read: Rx Time:04:01:44.3262 2025-10-27T04:01:45.643Z,1761537705.643 [DAT](INFO): Rx dataTimestamp_ set to:1761537705.642228 2025-10-27T04:01:45.645Z,1761537705.645 [DAT](INFO): DAT read: Bearing 326.1, 11.6 (Local) 2025-10-27T04:01:45.645Z,1761537705.645 [DAT](INFO): Local bearing/azimuth received: Bearing 326.1, 11.6 (Local) 2025-10-27T04:01:45.649Z,1761537705.649 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.4 2025-10-27T04:01:45.662Z,1761537705.662 [DAT](INFO): DAT read: 04:01:44.3262 LVL= 19424, 22369, 32754, 32755, AGC= 65, IDX= 512,-0.26, 2.790,-2.530, 2.187,-1.751, PHS=-1.640,-0.734,-2.389, RAW= 356.9, 49.6, CAL= 355.6, 53.5, ROT= 154.4, -53.5 2025-10-27T04:01:45.665Z,1761537705.665 [DAT](INFO): got valid direction response: 04:01:44.3262 LVL= 19424, 22369, 32754, 32755, AGC= 65, IDX= 512,-0.26, 2.790,-2.530, 2.187,-1.751, PHS=-1.640,-0.734,-2.389, RAW= 356.9, 49.6, CAL= 355.6, 53.5, ROT= 154.4, -53.5 2025-10-27T04:01:45.666Z,1761537705.666 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T04:01:45.693Z,1761537705.693 [DAT](INFO): direction in FSK: [-0.536430,0.257015,0.803857] 2025-10-27T04:01:45.694Z,1761537705.694 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:45.746Z,1761537705.746 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.632910 2025-10-27T04:01:45.796Z,1761537705.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601794,-0.795976,-0.065316],[0.777054,0.602450,-0.182324],[0.184475,0.058968,0.981067]] 2025-10-27T04:01:45.892Z,1761537705.892 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779211 2025-10-27T04:01:45.910Z,1761537705.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504002 s, deltaX: 0.300000 m, approachRate: 0.595236 m/s, rangeRepo size: 4 2025-10-27T04:01:45.912Z,1761537705.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.148398 m, bearing: 215.165869 deg, lat: 36.779351 deg, lon: -121.859535 deg, deltaT: 0.504002 s, deltaX: 0.298738 m, approachRate: 0.592733 m/s, posRepo size: 4 2025-10-27T04:01:45.913Z,1761537705.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 12.20 m. 2025-10-27T04:01:45.913Z,1761537705.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.15 m. 2025-10-27T04:01:45.916Z,1761537705.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.148398 m, nav range: 8.455403 m, bearing: 202.645588 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 104.741484 deg, new cmd heading: 106.149173 deg. 2025-10-27T04:01:45.917Z,1761537705.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.852653 target range: 12.148398 and range: 12.20 m. 2025-10-27T04:01:46.146Z,1761537706.146 [DAT](INFO): DAT read: Rx Time:04:01:44.8262 2025-10-27T04:01:46.146Z,1761537706.146 [DAT](INFO): Rx dataTimestamp_ set to:1761537706.146174 2025-10-27T04:01:46.149Z,1761537706.149 [DAT](INFO): DAT read: Bearing 352.2, 32.7 (Local) 2025-10-27T04:01:46.150Z,1761537706.150 [DAT](INFO): Local bearing/azimuth received: Bearing 352.2, 32.7 (Local) 2025-10-27T04:01:46.154Z,1761537706.154 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.4 2025-10-27T04:01:46.172Z,1761537706.172 [DAT](INFO): DAT read: 04:01:44.8262 LVL= 26320, 25425, 31890, 32755, AGC= 65, IDX= 512,-0.05,-2.356,-1.937, 2.898,-1.983, PHS=-0.271, 0.091,-1.446, RAW= 17.0, 22.4, CAL= 15.7, 26.8, ROT= 134.3, -26.8 2025-10-27T04:01:46.173Z,1761537706.173 [DAT](INFO): got valid direction response: 04:01:44.8262 LVL= 26320, 25425, 31890, 32755, AGC= 65, IDX= 512,-0.05,-2.356,-1.937, 2.898,-1.983, PHS=-0.271, 0.091,-1.446, RAW= 17.0, 22.4, CAL= 15.7, 26.8, ROT= 134.3, -26.8 2025-10-27T04:01:46.174Z,1761537706.174 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T04:01:46.179Z,1761537706.179 [DAT](INFO): direction in FSK: [-0.623396,0.638817,0.450878] 2025-10-27T04:01:46.180Z,1761537706.180 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:46.188Z,1761537706.188 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.074571 2025-10-27T04:01:46.263Z,1761537706.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582313,-0.810761,-0.059817],[0.791833,0.582307,-0.184172],[0.184151,0.059881,0.981072]] 2025-10-27T04:01:46.346Z,1761537706.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503946 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:01:46.353Z,1761537706.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.148398 m, bearing: 192.704244 deg, lat: 36.779346 deg, lon: -121.859523 deg, deltaT: 0.503946 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:01:46.353Z,1761537706.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 12.20 m. 2025-10-27T04:01:46.354Z,1761537706.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.15 m. 2025-10-27T04:01:46.361Z,1761537706.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.148398 m, nav range: 8.928273 m, bearing: 196.170534 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 106.149172 deg, new cmd heading: 107.326546 deg. 2025-10-27T04:01:46.362Z,1761537706.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.873202 target range: 12.148398 and range: 12.20 m. 2025-10-27T04:01:46.396Z,1761537706.396 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283467 2025-10-27T04:01:46.652Z,1761537706.652 [DAT](INFO): DAT read: Rx Time:04:01:45.3263 2025-10-27T04:01:46.652Z,1761537706.652 [DAT](INFO): Rx dataTimestamp_ set to:1761537706.651898 2025-10-27T04:01:46.655Z,1761537706.655 [DAT](INFO): DAT read: Bearing 337.4, 32.0 (Local) 2025-10-27T04:01:46.655Z,1761537706.655 [DAT](INFO): Local bearing/azimuth received: Bearing 337.4, 32.0 (Local) 2025-10-27T04:01:46.659Z,1761537706.659 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4 2025-10-27T04:01:46.689Z,1761537706.689 [DAT](INFO): DAT read: 04:01:45.3263 LVL= 26256, 32337, 32754, 32755, AGC= 65, IDX= 513, 0.29,-1.245,-0.913,-2.751,-0.453, PHS=-0.690,-0.416,-2.342, RAW= 22.4, 34.0, CAL= 20.6, 40.2, ROT= 129.4, -40.2 2025-10-27T04:01:46.699Z,1761537706.699 [DAT](INFO): got valid direction response: 04:01:45.3263 LVL= 26256, 32337, 32754, 32755, AGC= 65, IDX= 513, 0.29,-1.245,-0.913,-2.751,-0.453, PHS=-0.690,-0.416,-2.342, RAW= 22.4, 34.0, CAL= 20.6, 40.2, ROT= 129.4, -40.2 2025-10-27T04:01:46.699Z,1761537706.699 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T04:01:46.701Z,1761537706.701 [DAT](INFO): direction in FSK: [-0.484805,0.590211,0.645458] 2025-10-27T04:01:46.701Z,1761537706.701 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:46.731Z,1761537706.731 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.601801 2025-10-27T04:01:46.737Z,1761537706.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562425,-0.825011,-0.055085],[0.806124,0.561933,-0.185463],[0.183963,0.059903,0.981106]] 2025-10-27T04:01:46.792Z,1761537706.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.505724 s, deltaX: 0.100000 m, approachRate: 0.197737 m/s, rangeRepo size: 4 2025-10-27T04:01:46.794Z,1761537706.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.247982 m, bearing: 192.677158 deg, lat: 36.779345 deg, lon: -121.859517 deg, deltaT: 0.505724 s, deltaX: 0.099584 m, approachRate: 0.196913 m/s, posRepo size: 4 2025-10-27T04:01:46.794Z,1761537706.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 12.30 m. 2025-10-27T04:01:46.799Z,1761537706.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.25 m. 2025-10-27T04:01:46.805Z,1761537706.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.247982 m, nav range: 9.061568 m, bearing: 193.990303 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 107.326546 deg, new cmd heading: 108.493479 deg. 2025-10-27T04:01:46.806Z,1761537706.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.893568 target range: 12.247982 and range: 12.30 m. 2025-10-27T04:01:46.925Z,1761537706.925 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.793163 2025-10-27T04:01:47.158Z,1761537707.158 [DAT](INFO): DAT read: Rx Time:04:01:45.8264 2025-10-27T04:01:47.159Z,1761537707.159 [DAT](INFO): Rx dataTimestamp_ set to:1761537707.158259 2025-10-27T04:01:47.160Z,1761537707.160 [DAT](INFO): DAT read: Bearing 334.5, 37.5 (Local) 2025-10-27T04:01:47.160Z,1761537707.160 [DAT](INFO): Local bearing/azimuth received: Bearing 334.5, 37.5 (Local) 2025-10-27T04:01:47.162Z,1761537707.162 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-27T04:01:47.197Z,1761537707.197 [DAT](INFO): DAT read: 04:01:45.8264 LVL= 21392, 14049, 28658, 28915, AGC= 67, IDX= 2,-0.11,-1.691,-1.697, 2.938,-1.053, PHS=-0.535,-0.598,-2.336, RAW= 31.8, 34.7, CAL= 29.5, 40.8, ROT= 120.5, -40.8 2025-10-27T04:01:47.198Z,1761537707.198 [DAT](INFO): got valid direction response: 04:01:45.8264 LVL= 21392, 14049, 28658, 28915, AGC= 67, IDX= 2,-0.11,-1.691,-1.697, 2.938,-1.053, PHS=-0.535,-0.598,-2.336, RAW= 31.8, 34.7, CAL= 29.5, 40.8, ROT= 120.5, -40.8 2025-10-27T04:01:47.227Z,1761537707.227 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T04:01:47.228Z,1761537707.228 [DAT](INFO): direction in FSK: [-0.384204,0.652249,0.653421] 2025-10-27T04:01:47.228Z,1761537707.228 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:47.240Z,1761537707.240 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.127072 2025-10-27T04:01:47.242Z,1761537707.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521364,-0.852065,-0.046528],[0.833205,0.520081,-0.187845],[0.184255,0.059168,0.981096]] 2025-10-27T04:01:47.363Z,1761537707.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.506361 s, deltaX: 0.200000 m, approachRate: 0.394975 m/s, rangeRepo size: 4 2025-10-27T04:01:47.365Z,1761537707.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.447137 m, bearing: 187.507122 deg, lat: 36.779338 deg, lon: -121.859517 deg, deltaT: 0.506361 s, deltaX: 0.199155 m, approachRate: 0.393306 m/s, posRepo size: 4 2025-10-27T04:01:47.366Z,1761537707.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 12.50 m. 2025-10-27T04:01:47.366Z,1761537707.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m. 2025-10-27T04:01:47.369Z,1761537707.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.447137 m, nav range: 10.111625 m, bearing: 194.505312 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 108.493477 deg, new cmd heading: 110.043722 deg. 2025-10-27T04:01:47.370Z,1761537707.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920625 target range: 12.447137 and range: 12.50 m. 2025-10-27T04:01:47.408Z,1761537707.408 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.295016 2025-10-27T04:01:47.661Z,1761537707.661 [DAT](INFO): DAT read: Rx Time:04:01:46.3266 2025-10-27T04:01:47.661Z,1761537707.661 [DAT](INFO): Rx dataTimestamp_ set to:1761537707.660868 2025-10-27T04:01:47.662Z,1761537707.662 [DAT](INFO): DAT read: Bearing 336.3, 40.3 (Local) 2025-10-27T04:01:47.663Z,1761537707.663 [DAT](INFO): Local bearing/azimuth received: Bearing 336.3, 40.3 (Local) 2025-10-27T04:01:47.665Z,1761537707.665 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.4 2025-10-27T04:01:47.670Z,1761537707.670 [DAT](INFO): DAT read: 04:01:46.3266 LVL= 30048, 32145, 32754, 32755, AGC= 61, IDX= 500, 0.32, 1.220, 1.103,-0.493, 1.728, PHS=-0.406,-0.580,-2.265, RAW= 34.9, 32.9, CAL= 32.4, 39.0, ROT= 117.6, -39.0 2025-10-27T04:01:47.671Z,1761537707.671 [DAT](INFO): got valid direction response: 04:01:46.3266 LVL= 30048, 32145, 32754, 32755, AGC= 61, IDX= 500, 0.32, 1.220, 1.103,-0.493, 1.728, PHS=-0.406,-0.580,-2.265, RAW= 34.9, 32.9, CAL= 32.4, 39.0, ROT= 117.6, -39.0 2025-10-27T04:01:47.671Z,1761537707.671 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T04:01:47.672Z,1761537707.672 [DAT](INFO): direction in FSK: [-0.360049,0.688710,0.629320] 2025-10-27T04:01:47.672Z,1761537707.672 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:47.680Z,1761537707.680 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.567202 2025-10-27T04:01:47.803Z,1761537707.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.502609 s, deltaX: 0.100000 m, approachRate: 0.198963 m/s, rangeRepo size: 4 2025-10-27T04:01:47.805Z,1761537707.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.546717 m, bearing: 184.270561 deg, lat: 36.779337 deg, lon: -121.859517 deg, deltaT: 0.502609 s, deltaX: 0.099580 m, approachRate: 0.198126 m/s, posRepo size: 4 2025-10-27T04:01:47.806Z,1761537707.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 12.60 m. 2025-10-27T04:01:47.806Z,1761537707.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.55 m. 2025-10-27T04:01:47.813Z,1761537707.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.546717 m, nav range: 10.417917 m, bearing: 195.573623 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 110.043719 deg, new cmd heading: 111.240025 deg. 2025-10-27T04:01:47.814Z,1761537707.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.941505 target range: 12.546717 and range: 12.60 m. 2025-10-27T04:01:47.915Z,1761537707.915 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.801581 2025-10-27T04:01:48.140Z,1761537708.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477163,-0.878067,-0.036242],[0.859154,0.474766,-0.190924],[0.184851,0.059965,0.980935]] 2025-10-27T04:01:48.165Z,1761537708.165 [DAT](INFO): DAT read: Rx Time:04:01:46.8267 2025-10-27T04:01:48.165Z,1761537708.165 [DAT](INFO): Rx dataTimestamp_ set to:1761537708.164731 2025-10-27T04:01:48.166Z,1761537708.166 [DAT](INFO): DAT read: Bearing 339.6, 42.8 (Local) 2025-10-27T04:01:48.167Z,1761537708.167 [DAT](INFO): Local bearing/azimuth received: Bearing 339.6, 42.8 (Local) 2025-10-27T04:01:48.177Z,1761537708.177 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 2025-10-27T04:01:48.181Z,1761537708.181 [DAT](INFO): DAT read: 04:01:46.8267 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.05,-1.145,-1.327,-2.861,-0.756, PHS=-0.287,-0.526,-2.149, RAW= 36.8, 30.8, CAL= 34.1, 36.6, ROT= 115.9, -36.6 2025-10-27T04:01:48.183Z,1761537708.183 [DAT](INFO): got valid direction response: 04:01:46.8267 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.05,-1.145,-1.327,-2.861,-0.756, PHS=-0.287,-0.526,-2.149, RAW= 36.8, 30.8, CAL= 34.1, 36.6, ROT= 115.9, -36.6 2025-10-27T04:01:48.187Z,1761537708.187 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T04:01:48.188Z,1761537708.188 [DAT](INFO): direction in FSK: [-0.350672,0.722181,0.596225] 2025-10-27T04:01:48.188Z,1761537708.188 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:48.204Z,1761537708.204 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.091222 2025-10-27T04:01:48.268Z,1761537708.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503863 s, deltaX: 0.200000 m, approachRate: 0.396933 m/s, rangeRepo size: 4 2025-10-27T04:01:48.270Z,1761537708.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.745871 m, bearing: 185.016601 deg, lat: 36.779336 deg, lon: -121.859503 deg, deltaT: 0.503863 s, deltaX: 0.199154 m, approachRate: 0.395254 m/s, posRepo size: 4 2025-10-27T04:01:48.270Z,1761537708.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 12.80 m. 2025-10-27T04:01:48.275Z,1761537708.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.75 m. 2025-10-27T04:01:48.278Z,1761537708.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.745871 m, nav range: 10.367570 m, bearing: 190.248147 deg, approach rate: 0.000000 m/s, LOS rate: 0.898321 deg/s, cmd heading: 111.240026 deg, new cmd heading: 112.491775 deg. 2025-10-27T04:01:48.279Z,1761537708.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963352 target range: 12.745871 and range: 12.80 m. 2025-10-27T04:01:48.418Z,1761537708.418 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.304976 2025-10-27T04:01:48.546Z,1761537708.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454328,-0.890304,-0.030755],[0.871401,0.451323,-0.192272],[0.185060,0.060555,0.980860]] 2025-10-27T04:01:48.580Z,1761537708.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:48.582Z,1761537708.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.75 m. 2025-10-27T04:01:48.586Z,1761537708.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.745871 m, nav range: 10.491502 m, bearing: 191.370841 deg, approach rate: 0.388064 m/s, LOS rate: 3.473713 deg/s, cmd heading: 112.491774 deg, new cmd heading: 115.816123 deg. 2025-10-27T04:01:48.587Z,1761537708.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.021373 target range: 12.745871 and range: 12.80 m. 2025-10-27T04:01:48.670Z,1761537708.670 [DAT](INFO): DAT read: Rx Time:04:01:47.3270 2025-10-27T04:01:48.670Z,1761537708.670 [DAT](INFO): Rx dataTimestamp_ set to:1761537708.669767 2025-10-27T04:01:48.672Z,1761537708.672 [DAT](INFO): DAT read: Bearing 348.1, 46.5 (Local) 2025-10-27T04:01:48.672Z,1761537708.672 [DAT](INFO): Local bearing/azimuth received: Bearing 348.1, 46.5 (Local) 2025-10-27T04:01:48.674Z,1761537708.674 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 2025-10-27T04:01:48.679Z,1761537708.679 [DAT](INFO): DAT read: 04:01:47.3270 LVL= 30560, 32753, 32754, 32755, AGC= 61, IDX= 504,-0.27,-1.382,-1.594,-3.134,-1.187, PHS=-0.093,-0.362,-1.991, RAW= 37.5, 25.9, CAL= 34.5, 30.6, ROT= 115.5, -30.6 2025-10-27T04:01:48.680Z,1761537708.680 [DAT](INFO): got valid direction response: 04:01:47.3270 LVL= 30560, 32753, 32754, 32755, AGC= 61, IDX= 504,-0.27,-1.382,-1.594,-3.134,-1.187, PHS=-0.093,-0.362,-1.991, RAW= 37.5, 25.9, CAL= 34.5, 30.6, ROT= 115.5, -30.6 2025-10-27T04:01:48.680Z,1761537708.680 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T04:01:48.681Z,1761537708.681 [DAT](INFO): direction in FSK: [-0.370559,0.776893,0.509041] 2025-10-27T04:01:48.682Z,1761537708.682 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:48.685Z,1761537708.685 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.572332 2025-10-27T04:01:48.923Z,1761537708.923 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.809174 2025-10-27T04:01:49.007Z,1761537709.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431132,-0.901927,-0.025539],[0.883052,0.427585,-0.193365],[0.185321,0.060814,0.980794]] 2025-10-27T04:01:49.068Z,1761537709.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.505036 s, deltaX: 0.400000 m, approachRate: 0.792022 m/s, rangeRepo size: 4 2025-10-27T04:01:49.070Z,1761537709.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.144193 m, bearing: 186.107782 deg, lat: 36.779336 deg, lon: -121.859494 deg, deltaT: 0.505036 s, deltaX: 0.398322 m, approachRate: 0.788700 m/s, posRepo size: 4 2025-10-27T04:01:49.075Z,1761537709.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m. 2025-10-27T04:01:49.078Z,1761537709.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.144193 m, nav range: 10.519135 m, bearing: 188.624047 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 115.816130 deg, new cmd heading: 120.862193 deg. 2025-10-27T04:01:49.079Z,1761537709.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109443 target range: 13.144193 and range: 13.20 m. 2025-10-27T04:01:49.176Z,1761537709.175 [DAT](INFO): DAT read: Rx Time:04:01:47.8270 2025-10-27T04:01:49.176Z,1761537709.176 [DAT](INFO): Rx dataTimestamp_ set to:1761537709.175695 2025-10-27T04:01:49.177Z,1761537709.177 [DAT](INFO): DAT read: Bearing 354.5, 46.3 (Local) 2025-10-27T04:01:49.178Z,1761537709.178 [DAT](INFO): Local bearing/azimuth received: Bearing 354.5, 46.3 (Local) 2025-10-27T04:01:49.180Z,1761537709.180 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 2025-10-27T04:01:49.185Z,1761537709.185 [DAT](INFO): DAT read: 04:01:47.8270 LVL= 18848, 26065, 32754, 32755, AGC= 60, IDX= 504, 0.39,-2.100,-2.237, 2.475,-1.948, PHS=-0.050,-0.244,-1.904, RAW= 35.5, 23.8, CAL= 32.5, 27.9, ROT= 117.5, -27.9 2025-10-27T04:01:49.187Z,1761537709.187 [DAT](INFO): got valid direction response: 04:01:47.8270 LVL= 18848, 26065, 32754, 32755, AGC= 60, IDX= 504, 0.39,-2.100,-2.237, 2.475,-1.948, PHS=-0.050,-0.244,-1.904, RAW= 35.5, 23.8, CAL= 32.5, 27.9, ROT= 117.5, -27.9 2025-10-27T04:01:49.188Z,1761537709.188 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T04:01:49.189Z,1761537709.189 [DAT](INFO): direction in FSK: [-0.408078,0.783910,0.467930] 2025-10-27T04:01:49.189Z,1761537709.189 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:49.212Z,1761537709.212 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.098998 2025-10-27T04:01:49.411Z,1761537709.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407547,-0.912986,-0.019021],[0.894131,0.403190,-0.194853],[0.185567,0.062405,0.980648]] 2025-10-27T04:01:49.424Z,1761537709.424 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.311021 2025-10-27T04:01:49.512Z,1761537709.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.505928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:01:49.514Z,1761537709.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.144193 m, bearing: 188.929853 deg, lat: 36.779334 deg, lon: -121.859494 deg, deltaT: 0.505928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:01:49.520Z,1761537709.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m. 2025-10-27T04:01:49.522Z,1761537709.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.144193 m, nav range: 10.937257 m, bearing: 189.685250 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 120.862192 deg, new cmd heading: 125.478309 deg. 2025-10-27T04:01:49.528Z,1761537709.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190010 target range: 13.144193 and range: 13.20 m. 2025-10-27T04:01:49.677Z,1761537709.677 [DAT](INFO): DAT read: Rx Time:04:01:48.3273 2025-10-27T04:01:49.677Z,1761537709.677 [DAT](INFO): Rx dataTimestamp_ set to:1761537709.676855 2025-10-27T04:01:49.678Z,1761537709.678 [DAT](INFO): DAT read: Bearing 358.4, 42.7 (Local) 2025-10-27T04:01:49.679Z,1761537709.679 [DAT](INFO): Local bearing/azimuth received: Bearing 358.4, 42.7 (Local) 2025-10-27T04:01:49.681Z,1761537709.681 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4 2025-10-27T04:01:49.686Z,1761537709.686 [DAT](INFO): DAT read: 04:01:48.3273 LVL= 24992, 29393, 32754, 32755, AGC= 61, IDX= 507, 0.17,-1.083,-1.042,-2.621,-0.847, PHS=-0.134,-0.150,-1.818, RAW= 30.5, 23.9, CAL= 28.0, 28.1, ROT= 122.0, -28.1 2025-10-27T04:01:49.687Z,1761537709.687 [DAT](INFO): got valid direction response: 04:01:48.3273 LVL= 24992, 29393, 32754, 32755, AGC= 61, IDX= 507, 0.17,-1.083,-1.042,-2.621,-0.847, PHS=-0.134,-0.150,-1.818, RAW= 30.5, 23.9, CAL= 28.0, 28.1, ROT= 122.0, -28.1 2025-10-27T04:01:49.687Z,1761537709.687 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T04:01:49.689Z,1761537709.689 [DAT](INFO): direction in FSK: [-0.467456,0.748086,0.471012] 2025-10-27T04:01:49.689Z,1761537709.689 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:49.696Z,1761537709.696 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.581459 2025-10-27T04:01:49.840Z,1761537709.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383986,-0.923261,-0.012007],[0.904499,0.378732,-0.196070],[0.185571,0.064428,0.980516]] 2025-10-27T04:01:49.932Z,1761537709.932 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.818235 2025-10-27T04:01:49.994Z,1761537709.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.501160 s, deltaX: 0.500000 m, approachRate: 0.997685 m/s, rangeRepo size: 4 2025-10-27T04:01:50.008Z,1761537710.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.642081 m, bearing: 194.826677 deg, lat: 36.779327 deg, lon: -121.859494 deg, deltaT: 0.501160 s, deltaX: 0.497889 m, approachRate: 0.993472 m/s, posRepo size: 4 2025-10-27T04:01:50.008Z,1761537710.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.64 m. 2025-10-27T04:01:50.017Z,1761537710.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.642081 m, nav range: 11.861962 m, bearing: 190.397011 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 125.478307 deg, new cmd heading: 130.393360 deg. 2025-10-27T04:01:50.024Z,1761537710.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275794 target range: 13.642081 and range: 13.70 m. 2025-10-27T04:01:50.182Z,1761537710.182 [DAT](INFO): DAT read: Rx Time:04:01:48.8274 2025-10-27T04:01:50.182Z,1761537710.182 [DAT](INFO): Rx dataTimestamp_ set to:1761537710.181831 2025-10-27T04:01:50.184Z,1761537710.184 [DAT](INFO): DAT read: Bearing 0.9, 38.2 (Local) 2025-10-27T04:01:50.184Z,1761537710.184 [DAT](INFO): Local bearing/azimuth received: Bearing 0.9, 38.2 (Local) 2025-10-27T04:01:50.186Z,1761537710.186 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4 2025-10-27T04:01:50.208Z,1761537710.208 [DAT](INFO): DAT read: 04:01:48.8274 LVL= 24624, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.04, 3.055,-3.004, 1.691,-2.875, PHS=-0.252,-0.084,-1.761, RAW= 24.8, 24.9, CAL= 22.8, 29.4, ROT= 127.2, -29.4 2025-10-27T04:01:50.210Z,1761537710.210 [DAT](INFO): got valid direction response: 04:01:48.8274 LVL= 24624, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.04, 3.055,-3.004, 1.691,-2.875, PHS=-0.252,-0.084,-1.761, RAW= 24.8, 24.9, CAL= 22.8, 29.4, ROT= 127.2, -29.4 2025-10-27T04:01:50.211Z,1761537710.211 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T04:01:50.232Z,1761537710.232 [DAT](INFO): direction in FSK: [-0.526735,0.693948,0.490904] 2025-10-27T04:01:50.232Z,1761537710.232 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:50.246Z,1761537710.246 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.132845 2025-10-27T04:01:50.433Z,1761537710.433 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.319337 2025-10-27T04:01:50.514Z,1761537710.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336763,-0.941589,0.000732],[0.923056,0.329981,-0.197688],[0.185899,0.067250,0.980265]] 2025-10-27T04:01:50.531Z,1761537710.531 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:01:50.592Z,1761537710.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504976 s, deltaX: 0.100000 m, approachRate: 0.198030 m/s, rangeRepo size: 4 2025-10-27T04:01:50.594Z,1761537710.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.741654 m, bearing: 203.102918 deg, lat: 36.779327 deg, lon: -121.859494 deg, deltaT: 0.504976 s, deltaX: 0.099573 m, approachRate: 0.197184 m/s, posRepo size: 4 2025-10-27T04:01:50.599Z,1761537710.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.74 m. 2025-10-27T04:01:50.602Z,1761537710.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.741654 m, nav range: 12.089935 m, bearing: 192.423359 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 130.393366 deg, new cmd heading: 136.696303 deg. 2025-10-27T04:01:50.607Z,1761537710.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385801 target range: 13.741654 and range: 13.80 m. 2025-10-27T04:01:50.685Z,1761537710.685 [DAT](INFO): DAT read: Rx Time:04:01:49.3276 2025-10-27T04:01:50.685Z,1761537710.685 [DAT](INFO): Rx dataTimestamp_ set to:1761537710.684906 2025-10-27T04:01:50.686Z,1761537710.686 [DAT](INFO): DAT read: Bearing 2.9, 31.8 (Local) 2025-10-27T04:01:50.687Z,1761537710.687 [DAT](INFO): Local bearing/azimuth received: Bearing 2.9, 31.8 (Local) 2025-10-27T04:01:50.690Z,1761537710.690 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 2025-10-27T04:01:50.697Z,1761537710.697 [DAT](INFO): DAT read: 04:01:49.3276 LVL= 22576, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.03, 0.887, 1.346,-0.296, 1.413, PHS=-0.424,-0.022,-1.754, RAW= 17.2, 26.4, CAL= 15.8, 31.4, ROT= 134.2, -31.4 2025-10-27T04:01:50.712Z,1761537710.712 [DAT](INFO): got valid direction response: 04:01:49.3276 LVL= 22576, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.03, 0.887, 1.346,-0.296, 1.413, PHS=-0.424,-0.022,-1.754, RAW= 17.2, 26.4, CAL= 15.8, 31.4, ROT= 134.2, -31.4 2025-10-27T04:01:50.712Z,1761537710.712 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T04:01:50.714Z,1761537710.714 [DAT](INFO): direction in FSK: [-0.595066,0.611920,0.521010] 2025-10-27T04:01:50.714Z,1761537710.714 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:50.728Z,1761537710.728 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.614814 2025-10-27T04:01:50.939Z,1761537710.939 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.825193 2025-10-27T04:01:51.089Z,1761537711.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313571,-0.949554,0.004524],[0.931183,0.306564,-0.197275],[0.185936,0.066073,0.980338]] 2025-10-27T04:01:51.106Z,1761537711.106 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +27, +69,A 2025-10-27T04:01:51.160Z,1761537711.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503075 s, deltaX: 0.300000 m, approachRate: 0.596333 m/s, rangeRepo size: 4 2025-10-27T04:01:51.162Z,1761537711.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.040386 m, bearing: 211.518216 deg, lat: 36.779327 deg, lon: -121.859506 deg, deltaT: 0.503075 s, deltaX: 0.298732 m, approachRate: 0.593812 m/s, posRepo size: 4 2025-10-27T04:01:51.167Z,1761537711.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m. 2025-10-27T04:01:51.170Z,1761537711.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.040386 m, nav range: 12.564690 m, bearing: 198.563245 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 136.696305 deg, new cmd heading: 142.592793 deg. 2025-10-27T04:01:51.175Z,1761537711.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.488714 target range: 14.040386 and range: 14.10 m. 2025-10-27T04:01:51.189Z,1761537711.189 [DAT](INFO): DAT read: Rx Time:04:01:49.8276 2025-10-27T04:01:51.189Z,1761537711.189 [DAT](INFO): Rx dataTimestamp_ set to:1761537711.188762 2025-10-27T04:01:51.190Z,1761537711.190 [DAT](INFO): DAT read: Bearing 5.5, 27.8 (Local) 2025-10-27T04:01:51.191Z,1761537711.191 [DAT](INFO): Local bearing/azimuth received: Bearing 5.5, 27.8 (Local) 2025-10-27T04:01:51.193Z,1761537711.193 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.5 2025-10-27T04:01:51.197Z,1761537711.197 [DAT](INFO): DAT read: 04:01:49.8276 LVL= 22000, 32753, 32754, 32755, AGC= 63, IDX= 511,-0.14,-0.907,-0.293,-1.972,-0.283, PHS=-0.522, 0.035,-1.733, RAW= 12.1, 26.6, CAL= 10.9, 31.7, ROT= 139.1, -31.7 2025-10-27T04:01:51.199Z,1761537711.199 [DAT](INFO): got valid direction response: 04:01:49.8276 LVL= 22000, 32753, 32754, 32755, AGC= 63, IDX= 511,-0.14,-0.907,-0.293,-1.972,-0.283, PHS=-0.522, 0.035,-1.733, RAW= 12.1, 26.6, CAL= 10.9, 31.7, ROT= 139.1, -31.7 2025-10-27T04:01:51.199Z,1761537711.199 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T04:01:51.200Z,1761537711.200 [DAT](INFO): direction in FSK: [-0.643089,0.557061,0.525472] 2025-10-27T04:01:51.200Z,1761537711.200 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:51.204Z,1761537711.204 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.091338 2025-10-27T04:01:51.440Z,1761537711.440 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.326893 2025-10-27T04:01:51.536Z,1761537711.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:01:51.619Z,1761537711.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290158,-0.956935,0.009125],[0.938703,0.282749,-0.197206],[0.186133,0.065786,0.980320]] 2025-10-27T04:01:51.688Z,1761537711.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503856 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:01:51.694Z,1761537711.694 [DAT](INFO): DAT read: Rx Time:04:01:50.3279 2025-10-27T04:01:51.694Z,1761537711.694 [DAT](INFO): Rx dataTimestamp_ set to:1761537711.693749 2025-10-27T04:01:51.696Z,1761537711.696 [DAT](INFO): DAT read: Bearing 359.8, 41.7 (Local) 2025-10-27T04:01:51.696Z,1761537711.696 [DAT](INFO): Local bearing/azimuth received: Bearing 359.8, 41.7 (Local) 2025-10-27T04:01:51.700Z,1761537711.700 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.4 2025-10-27T04:01:51.707Z,1761537711.707 [DAT](INFO): DAT read: 04:01:50.3279 LVL= 23120, 32753, 32754, 32755, AGC= 63, IDX= 514,-0.44,-1.638,-1.623,-3.008,-1.319, PHS=-0.217,-0.258,-1.733, RAW= 31.4, 27.6, CAL= 28.9, 32.5, ROT= 121.1, -32.5 2025-10-27T04:01:51.709Z,1761537711.709 [DAT](INFO): got valid direction response: 04:01:50.3279 LVL= 23120, 32753, 32754, 32755, AGC= 63, IDX= 514,-0.44,-1.638,-1.623,-3.008,-1.319, PHS=-0.217,-0.258,-1.733, RAW= 31.4, 27.6, CAL= 28.9, 32.5, ROT= 121.1, -32.5 2025-10-27T04:01:51.709Z,1761537711.709 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T04:01:51.717Z,1761537711.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.040380 m, bearing: 217.562738 deg, lat: 36.779330 deg, lon: -121.859520 deg, deltaT: 0.503856 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-27T04:01:51.718Z,1761537711.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m. 2025-10-27T04:01:51.723Z,1761537711.723 [DAT](INFO): direction in FSK: [-0.435640,0.722168,0.537300] 2025-10-27T04:01:51.723Z,1761537711.723 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:51.729Z,1761537711.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.040380 m, nav range: 12.897014 m, bearing: 205.825845 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 142.592794 deg, new cmd heading: 148.033856 deg. 2025-10-27T04:01:51.730Z,1761537711.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.583678 target range: 14.040380 and range: 14.10 m. 2025-10-27T04:01:51.736Z,1761537711.736 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.623053 2025-10-27T04:01:51.969Z,1761537711.969 [DAT](INFO): DAT read: Rx Time:04:01:50.8280 2025-10-27T04:01:51.972Z,1761537711.972 [DAT](INFO): Rx dataTimestamp_ set to:1761537711.970231 2025-10-27T04:01:51.976Z,1761537711.976 [DAT](INFO): DAT read: Bearing 11.7, 29.9 (Local) 2025-10-27T04:01:51.977Z,1761537711.977 [DAT](INFO): Local bearing/azimuth received: Bearing 11.7, 29.9 (Local) 2025-10-27T04:01:51.988Z,1761537711.988 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.4 2025-10-27T04:01:51.995Z,1761537711.995 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-27T04:01:51.998Z,1761537711.998 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.884756 2025-10-27T04:01:52.088Z,1761537712.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243725,-0.969703,0.016585],[0.951872,0.235897,-0.195682],[0.185841,0.063479,0.980527]] 2025-10-27T04:01:52.220Z,1761537712.220 [DAT](INFO): DAT read: 04:01:50.8280 LVL= 24240, 26017, 26770, 26723, AGC= 67, IDX= 2, 0.17, 2.477, 3.093, 1.225, 3.044, PHS=-0.464, 0.095,-1.863, RAW= 13.9, 24.3, CAL= 12.8, 29.1, ROT= 137.2, -29.1 2025-10-27T04:01:52.221Z,1761537712.221 [DAT](INFO): got valid direction response: 04:01:50.8280 LVL= 24240, 26017, 26770, 26723, AGC= 67, IDX= 2, 0.17, 2.477, 3.093, 1.225, 3.044, PHS=-0.464, 0.095,-1.863, RAW= 13.9, 24.3, CAL= 12.8, 29.1, ROT= 137.2, -29.1 2025-10-27T04:01:52.221Z,1761537712.221 [DAT](INFO): #Rx 17: Read direction message, but no range. 2025-10-27T04:01:52.222Z,1761537712.222 [DAT](INFO): direction in FSK: [-0.641113,0.593677,0.486335] 2025-10-27T04:01:52.227Z,1761537712.227 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.113572 2025-10-27T04:01:52.230Z,1761537712.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.781469 s, deltaX: 0.599999 m, approachRate: 0.767784 m/s, rangeRepo size: 4 2025-10-27T04:01:52.237Z,1761537712.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.637843 m, bearing: 203.661090 deg, lat: 36.779330 deg, lon: -121.859520 deg, deltaT: 0.781469 s, deltaX: 0.597463 m, approachRate: 0.764538 m/s, posRepo size: 4 2025-10-27T04:01:52.237Z,1761537712.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m. 2025-10-27T04:01:52.244Z,1761537712.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.637843 m, nav range: 13.099732 m, bearing: 206.975702 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 148.033859 deg, new cmd heading: 153.705629 deg. 2025-10-27T04:01:52.245Z,1761537712.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682669 target range: 14.637843 and range: 14.70 m. 2025-10-27T04:01:52.471Z,1761537712.471 [DAT](INFO): DAT read: Rx Time:04:01:51.3283 2025-10-27T04:01:52.473Z,1761537712.473 [DAT](INFO): Rx dataTimestamp_ set to:1761537712.471937 2025-10-27T04:01:52.476Z,1761537712.476 [DAT](INFO): DAT read: Bearing 15.6, 31.2 (Local) 2025-10-27T04:01:52.476Z,1761537712.476 [DAT](INFO): Local bearing/azimuth received: Bearing 15.6, 31.2 (Local) 2025-10-27T04:01:52.487Z,1761537712.487 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 2025-10-27T04:01:52.489Z,1761537712.489 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-27T04:01:52.520Z,1761537712.520 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.406726 2025-10-27T04:01:52.561Z,1761537712.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221227,-0.975012,0.020237],[0.957439,0.213201,-0.194566],[0.185390,0.062419,0.980681]] 2025-10-27T04:01:52.612Z,1761537712.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.501706 s, deltaX: 0.500000 m, approachRate: 0.996600 m/s, rangeRepo size: 4 2025-10-27T04:01:52.614Z,1761537712.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.135729 m, bearing: 219.303325 deg, lat: 36.779337 deg, lon: -121.859535 deg, deltaT: 0.501706 s, deltaX: 0.497886 m, approachRate: 0.992385 m/s, posRepo size: 4 2025-10-27T04:01:52.620Z,1761537712.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.14 m. 2025-10-27T04:01:52.630Z,1761537712.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.135729 m, nav range: 13.314422 m, bearing: 214.427189 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 153.705635 deg, new cmd heading: 157.684883 deg. 2025-10-27T04:01:52.636Z,1761537712.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.752120 target range: 15.135729 and range: 15.20 m. 2025-10-27T04:01:52.726Z,1761537712.726 [DAT](INFO): DAT read: 04:01:51.3283 LVL= 26176, 32753, 32754, 32755, AGC= 62, IDX= 501,-0.11, 2.584,-3.082, 1.243, 3.088, PHS=-0.402, 0.159,-1.889, RAW= 14.6, 22.4, CAL= 13.6, 26.8, ROT= 136.4, -26.8 2025-10-27T04:01:52.727Z,1761537712.727 [DAT](INFO): got valid direction response: 04:01:51.3283 LVL= 26176, 32753, 32754, 32755, AGC= 62, IDX= 501,-0.11, 2.584,-3.082, 1.243, 3.088, PHS=-0.402, 0.159,-1.889, RAW= 14.6, 22.4, CAL= 13.6, 26.8, ROT= 136.4, -26.8 2025-10-27T04:01:52.727Z,1761537712.727 [DAT](INFO): #Rx 19: Read direction message, but no range. 2025-10-27T04:01:52.728Z,1761537712.728 [DAT](INFO): direction in FSK: [-0.646386,0.615545,0.450878] 2025-10-27T04:01:52.737Z,1761537712.737 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.624395 2025-10-27T04:01:52.977Z,1761537712.977 [DAT](INFO): DAT read: Rx Time:04:01:51.8283 2025-10-27T04:01:52.981Z,1761537712.981 [DAT](INFO): Rx dataTimestamp_ set to:1761537712.978090 2025-10-27T04:01:52.985Z,1761537712.985 [DAT](INFO): DAT read: Bearing 21.1, 34.7 (Local) 2025-10-27T04:01:52.987Z,1761537712.987 [DAT](INFO): Local bearing/azimuth received: Bearing 21.1, 34.7 (Local) 2025-10-27T04:01:53.008Z,1761537713.008 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 2025-10-27T04:01:53.009Z,1761537713.009 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-27T04:01:53.010Z,1761537713.010 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.896694 2025-10-27T04:01:53.023Z,1761537713.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199075,-0.979681,0.024393],[0.962375,0.190739,-0.193525],[0.184940,0.062001,0.980792]] 2025-10-27T04:01:53.112Z,1761537713.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.506153 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:01:53.114Z,1761537713.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.135729 m, bearing: 219.395666 deg, lat: 36.779338 deg, lon: -121.859543 deg, deltaT: 0.506153 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:01:53.119Z,1761537713.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.14 m. 2025-10-27T04:01:53.129Z,1761537713.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.135729 m, nav range: 13.868810 m, bearing: 218.135243 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 157.684889 deg, new cmd heading: 162.879273 deg. 2025-10-27T04:01:53.135Z,1761537713.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842780 target range: 15.135729 and range: 15.20 m. 2025-10-27T04:01:53.228Z,1761537713.228 [DAT](INFO): DAT read: 04:01:51.8283 LVL= 22512, 25009, 31186, 28851, AGC= 62, IDX= 501, 0.43,-2.110,-1.589, 2.681,-1.773, PHS=-0.235, 0.229,-1.872, RAW= 17.9, 19.1, CAL= 16.7, 23.0, ROT= 133.3, -23.0 2025-10-27T04:01:53.229Z,1761537713.229 [DAT](INFO): got valid direction response: 04:01:51.8283 LVL= 22512, 25009, 31186, 28851, AGC= 62, IDX= 501, 0.43,-2.110,-1.589, 2.681,-1.773, PHS=-0.235, 0.229,-1.872, RAW= 17.9, 19.1, CAL= 16.7, 23.0, ROT= 133.3, -23.0 2025-10-27T04:01:53.229Z,1761537713.229 [DAT](INFO): #Rx 21: Read direction message, but no range. 2025-10-27T04:01:53.230Z,1761537713.230 [DAT](INFO): direction in FSK: [-0.631299,0.669918,0.390731] 2025-10-27T04:01:53.234Z,1761537713.234 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.120548 2025-10-27T04:01:53.480Z,1761537713.480 [DAT](INFO): DAT read: Rx Time:04:01:52.3286 2025-10-27T04:01:53.482Z,1761537713.482 [DAT](INFO): Rx dataTimestamp_ set to:1761537713.481150 2025-10-27T04:01:53.487Z,1761537713.487 [DAT](INFO): DAT read: Bearing 26.3, 36.9 (Local) 2025-10-27T04:01:53.488Z,1761537713.488 [DAT](INFO): Local bearing/azimuth received: Bearing 26.3, 36.9 (Local) 2025-10-27T04:01:53.503Z,1761537713.503 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.4 2025-10-27T04:01:53.505Z,1761537713.505 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-10-27T04:01:53.506Z,1761537713.506 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.392671 2025-10-27T04:01:53.531Z,1761537713.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177266,-0.983736,0.028972],[0.966728,0.168533,-0.192442],[0.184429,0.062122,0.980881]] 2025-10-27T04:01:53.600Z,1761537713.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503060 s, deltaX: 0.400001 m, approachRate: 0.795135 m/s, rangeRepo size: 4 2025-10-27T04:01:53.602Z,1761537713.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.534010 m, bearing: 217.008503 deg, lat: 36.779338 deg, lon: -121.859544 deg, deltaT: 0.503060 s, deltaX: 0.398281 m, approachRate: 0.791717 m/s, posRepo size: 4 2025-10-27T04:01:53.607Z,1761537713.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.53 m. 2025-10-27T04:01:53.610Z,1761537713.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.534010 m, nav range: 14.125159 m, bearing: 219.027612 deg, approach rate: 0.000000 m/s, LOS rate: 3.473713 deg/s, cmd heading: 162.879275 deg, new cmd heading: 167.906053 deg. 2025-10-27T04:01:53.610Z,1761537713.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.930513 target range: 15.534010 and range: 15.60 m. 2025-10-27T04:01:53.732Z,1761537713.732 [DAT](INFO): DAT read: 04:01:52.3286 LVL= 22512, 24849, 32754, 30323, AGC= 60, IDX= 504, 0.03,-0.930,-0.468,-2.498,-0.719, PHS=-0.109, 0.296,-1.823, RAW= 19.6, 16.5, CAL= 18.3, 19.9, ROT= 131.7, -19.9 2025-10-27T04:01:53.733Z,1761537713.733 [DAT](INFO): got valid direction response: 04:01:52.3286 LVL= 22512, 24849, 32754, 30323, AGC= 60, IDX= 504, 0.03,-0.930,-0.468,-2.498,-0.719, PHS=-0.109, 0.296,-1.823, RAW= 19.6, 16.5, CAL= 18.3, 19.9, ROT= 131.7, -19.9 2025-10-27T04:01:53.734Z,1761537713.734 [DAT](INFO): #Rx 23: Read direction message, but no range. 2025-10-27T04:01:53.735Z,1761537713.735 [DAT](INFO): direction in FSK: [-0.625508,0.702055,0.340380] 2025-10-27T04:01:53.739Z,1761537713.739 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.625636 2025-10-27T04:01:53.934Z,1761537713.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155911,-0.987215,0.033150],[0.970543,0.146865,-0.190989],[0.183678,0.061951,0.981032]] 2025-10-27T04:01:53.985Z,1761537713.985 [DAT](INFO): DAT read: Rx Time:04:01:52.8287 2025-10-27T04:01:53.988Z,1761537713.988 [DAT](INFO): Rx dataTimestamp_ set to:1761537713.986341 2025-10-27T04:01:53.993Z,1761537713.993 [DAT](INFO): DAT read: Bearing 32.8, 38.7 (Local) 2025-10-27T04:01:53.994Z,1761537713.994 [DAT](INFO): Local bearing/azimuth received: Bearing 32.8, 38.7 (Local) 2025-10-27T04:01:54.016Z,1761537714.016 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.4 2025-10-27T04:01:54.026Z,1761537714.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:54.029Z,1761537714.029 [DAT](INFO): DAT read: 04:01:52.8287 LVL= 21200, 25953, 32498, 32755, AGC= 60, IDX= 505,-0.32, 2.705, 3.133, 1.098, 2.797, PHS= 0.010, 0.381,-1.743, RAW= 20.6, 13.7, CAL= 19.5, 15.9, ROT= 130.5, -15.9 2025-10-27T04:01:54.030Z,1761537714.030 [DAT](INFO): got valid direction response: 04:01:52.8287 LVL= 21200, 25953, 32498, 32755, AGC= 60, IDX= 505,-0.32, 2.705, 3.133, 1.098, 2.797, PHS= 0.010, 0.381,-1.743, RAW= 20.6, 13.7, CAL= 19.5, 15.9, ROT= 130.5, -15.9 2025-10-27T04:01:54.033Z,1761537714.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.53 m. 2025-10-27T04:01:54.031Z,1761537714.031 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T04:01:54.040Z,1761537714.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.534010 m, nav range: 14.308938 m, bearing: 219.617231 deg, approach rate: 0.420072 m/s, LOS rate: 1.330390 deg/s, cmd heading: 167.906049 deg, new cmd heading: 169.651618 deg. 2025-10-27T04:01:54.041Z,1761537714.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.960979 target range: 15.534010 and range: 15.60 m. 2025-10-27T04:01:54.044Z,1761537714.044 [DAT](INFO): direction in FSK: [-0.624601,0.731314,0.273959] 2025-10-27T04:01:54.044Z,1761537714.044 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:54.052Z,1761537714.052 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=11.938770 2025-10-27T04:01:54.233Z,1761537714.233 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.119982 2025-10-27T04:01:54.488Z,1761537714.488 [DAT](INFO): DAT read: Rx Time:04:01:53.3288 2025-10-27T04:01:54.490Z,1761537714.490 [DAT](INFO): Rx dataTimestamp_ set to:1761537714.488941 2025-10-27T04:01:54.495Z,1761537714.495 [DAT](INFO): DAT read: Bearing 35.1, 37.9 (Local) 2025-10-27T04:01:54.496Z,1761537714.496 [DAT](INFO): Local bearing/azimuth received: Bearing 35.1, 37.9 (Local) 2025-10-27T04:01:54.511Z,1761537714.511 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4 2025-10-27T04:01:54.544Z,1761537714.544 [DAT](INFO): DAT read: 04:01:53.3288 LVL= 21264, 27985, 32754, 32755, AGC= 59, IDX= 506, 0.08,-2.454,-1.999, 2.296,-2.349, PHS=-0.003, 0.396,-1.682, RAW= 19.6, 13.4, CAL= 18.6, 15.6, ROT= 131.4, -15.6 2025-10-27T04:01:54.545Z,1761537714.545 [DAT](INFO): got valid direction response: 04:01:53.3288 LVL= 21264, 27985, 32754, 32755, AGC= 59, IDX= 506, 0.08,-2.454,-1.999, 2.296,-2.349, PHS=-0.003, 0.396,-1.682, RAW= 19.6, 13.4, CAL= 18.6, 15.6, ROT= 131.4, -15.6 2025-10-27T04:01:54.546Z,1761537714.546 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T04:01:54.555Z,1761537714.555 [DAT](INFO): direction in FSK: [-0.636951,0.722479,0.268920] 2025-10-27T04:01:54.556Z,1761537714.556 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:54.560Z,1761537714.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113487,-0.992691,0.041055],[0.976704,0.103894,-0.187762],[0.182124,0.061407,0.981356]] 2025-10-27T04:01:54.567Z,1761537714.567 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.454444 2025-10-27T04:01:54.728Z,1761537714.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 1.007791 s, deltaX: 0.299999 m, approachRate: 0.297680 m/s, rangeRepo size: 4 2025-10-27T04:01:54.730Z,1761537714.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.832765 m, bearing: 217.510336 deg, lat: 36.779331 deg, lon: -121.859544 deg, deltaT: 1.007791 s, deltaX: 0.298755 m, approachRate: 0.296445 m/s, posRepo size: 4 2025-10-27T04:01:54.732Z,1761537714.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.83 m. 2025-10-27T04:01:54.734Z,1761537714.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.832765 m, nav range: 15.237182 m, bearing: 218.583102 deg, approach rate: 0.000000 m/s, LOS rate: 1.330390 deg/s, cmd heading: 169.651613 deg, new cmd heading: 172.371638 deg. 2025-10-27T04:01:54.736Z,1761537714.736 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.622993 2025-10-27T04:01:54.743Z,1761537714.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.008453 target range: 15.832765 and range: 15.90 m. 2025-10-27T04:01:54.995Z,1761537714.995 [DAT](INFO): DAT read: Rx Time:04:01:53.8289 2025-10-27T04:01:54.997Z,1761537714.997 [DAT](INFO): Rx dataTimestamp_ set to:1761537714.996052 2025-10-27T04:01:55.002Z,1761537715.002 [DAT](INFO): DAT read: Bearing 36.4, 35.4 (Local) 2025-10-27T04:01:55.004Z,1761537715.004 [DAT](INFO): Local bearing/azimuth received: Bearing 36.4, 35.4 (Local) 2025-10-27T04:01:55.015Z,1761537715.015 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.4 2025-10-27T04:01:55.095Z,1761537715.095 [DAT](INFO): DAT read: 04:01:53.8289 LVL= 17520, 25681, 32242, 32755, AGC= 58, IDX= 507,-0.45, 1.549, 2.098, 0.117, 1.722, PHS=-0.070, 0.422,-1.648, RAW= 16.8, 13.8, CAL= 16.1, 16.2, ROT= 133.9, -16.2 2025-10-27T04:01:55.097Z,1761537715.097 [DAT](INFO): got valid direction response: 04:01:53.8289 LVL= 17520, 25681, 32242, 32755, AGC= 58, IDX= 507,-0.45, 1.549, 2.098, 0.117, 1.722, PHS=-0.070, 0.422,-1.648, RAW= 16.8, 13.8, CAL= 16.1, 16.2, ROT= 133.9, -16.2 2025-10-27T04:01:55.097Z,1761537715.097 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T04:01:55.103Z,1761537715.103 [DAT](INFO): direction in FSK: [-0.665869,0.691941,0.278991] 2025-10-27T04:01:55.104Z,1761537715.104 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:55.122Z,1761537715.122 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.008831 2025-10-27T04:01:55.178Z,1761537715.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092174,-0.994731,0.044869],[0.979075,0.082329,-0.186102],[0.181428,0.061084,0.981505]] 2025-10-27T04:01:55.240Z,1761537715.240 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.127042 2025-10-27T04:01:55.269Z,1761537715.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.507111 s, deltaX: 0.200001 m, approachRate: 0.394392 m/s, rangeRepo size: 4 2025-10-27T04:01:55.276Z,1761537715.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.031919 m, bearing: 221.268646 deg, lat: 36.779332 deg, lon: -121.859548 deg, deltaT: 0.507111 s, deltaX: 0.199155 m, approachRate: 0.392724 m/s, posRepo size: 4 2025-10-27T04:01:55.276Z,1761537715.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.03 m. 2025-10-27T04:01:55.283Z,1761537715.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.031919 m, nav range: 15.583795 m, bearing: 220.681042 deg, approach rate: 0.000000 m/s, LOS rate: 1.330390 deg/s, cmd heading: 172.371640 deg, new cmd heading: 174.582517 deg. 2025-10-27T04:01:55.284Z,1761537715.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.047040 target range: 16.031919 and range: 16.10 m. 2025-10-27T04:01:55.497Z,1761537715.497 [DAT](INFO): DAT read: Rx Time:04:01:54.3291 2025-10-27T04:01:55.499Z,1761537715.499 [DAT](INFO): Rx dataTimestamp_ set to:1761537715.497841 2025-10-27T04:01:55.506Z,1761537715.506 [DAT](INFO): DAT read: Bearing 35.8, 32.0 (Local) 2025-10-27T04:01:55.508Z,1761537715.508 [DAT](INFO): Local bearing/azimuth received: Bearing 35.8, 32.0 (Local) 2025-10-27T04:01:55.512Z,1761537715.512 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.4 2025-10-27T04:01:55.517Z,1761537715.517 [DAT](INFO): DAT read: 04:01:54.3291 LVL= 17600, 25153, 32754, 32755, AGC= 57, IDX= 509,-0.09, 2.487,-3.134, 1.179, 2.778, PHS=-0.190, 0.416,-1.643, RAW= 13.4, 15.3, CAL= 12.9, 18.6, ROT= 137.1, -18.6 2025-10-27T04:01:55.518Z,1761537715.518 [DAT](INFO): got valid direction response: 04:01:54.3291 LVL= 17600, 25153, 32754, 32755, AGC= 57, IDX= 509,-0.09, 2.487,-3.134, 1.179, 2.778, PHS=-0.190, 0.416,-1.643, RAW= 13.4, 15.3, CAL= 12.9, 18.6, ROT= 137.1, -18.6 2025-10-27T04:01:55.518Z,1761537715.518 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T04:01:55.520Z,1761537715.520 [DAT](INFO): direction in FSK: [-0.694281,0.645166,0.318959] 2025-10-27T04:01:55.521Z,1761537715.521 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:55.541Z,1761537715.541 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.428139 2025-10-27T04:01:55.674Z,1761537715.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.501789 s, deltaX: 0.299999 m, approachRate: 0.597859 m/s, rangeRepo size: 4 2025-10-27T04:01:55.680Z,1761537715.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.330647 m, bearing: 224.773174 deg, lat: 36.779332 deg, lon: -121.859548 deg, deltaT: 0.501789 s, deltaX: 0.298727 m, approachRate: 0.595324 m/s, posRepo size: 4 2025-10-27T04:01:55.681Z,1761537715.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.33 m. 2025-10-27T04:01:55.681Z,1761537715.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 16.40 m. Rolling out. 2025-10-27T04:01:55.682Z,1761537715.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T04:01:55.744Z,1761537715.744 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.631064 2025-10-27T04:01:55.848Z,1761537715.848 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T04:01:56.001Z,1761537716.001 [DAT](INFO): DAT read: Rx Time:04:01:54.8291 2025-10-27T04:01:56.003Z,1761537716.003 [DAT](INFO): Rx dataTimestamp_ set to:1761537716.001812 2025-10-27T04:01:56.006Z,1761537716.006 [DAT](INFO): DAT read: Bearing 35.3, 31.4 (Local) 2025-10-27T04:01:56.008Z,1761537716.008 [DAT](INFO): Local bearing/azimuth received: Bearing 35.3, 31.4 (Local) 2025-10-27T04:01:56.013Z,1761537716.013 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.4 2025-10-27T04:01:56.015Z,1761537716.015 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-27T04:01:56.018Z,1761537716.018 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.904289 2025-10-27T04:01:56.177Z,1761537716.177 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T04:01:56.177Z,1761537716.177 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T04:01:56.177Z,1761537716.177 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T04:01:56.178Z,1761537716.178 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 16.400000 m (mode 5.000000 count ). 2025-10-27T04:01:56.179Z,1761537716.179 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T04:01:56.179Z,1761537716.179 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T04:01:56.179Z,1761537716.180 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T04:01:56.180Z,1761537716.180 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T04:01:56.180Z,1761537716.180 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T04:01:56.181Z,1761537716.181 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 16.400000 m (mode 5.000000 count ). 2025-10-27T04:01:56.181Z,1761537716.181 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T04:01:56.181Z,1761537716.181 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T04:01:56.182Z,1761537716.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:01:56.185Z,1761537716.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503971 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:01:56.186Z,1761537716.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.33 m. 2025-10-27T04:01:56.191Z,1761537716.191 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T04:01:56.191Z,1761537716.191 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T04:01:56.191Z,1761537716.191 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T04:01:56.191Z,1761537716.191 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T04:01:56.254Z,1761537716.254 [DAT](INFO): DAT read: 04:01:54.8291 LVL= 19280, 25809, 32114, 32755, AGC= 57, IDX= 509, 0.14, 2.823,-2.795, 1.527,-3.120, PHS=-0.239, 0.369,-1.681, RAW= 13.2, 16.7, CAL= 12.6, 20.5, ROT= 137.4, -20.5 2025-10-27T04:01:56.256Z,1761537716.256 [DAT](INFO): got valid direction response: 04:01:54.8291 LVL= 19280, 25809, 32114, 32755, AGC= 57, IDX= 509, 0.14, 2.823,-2.795, 1.527,-3.120, PHS=-0.239, 0.369,-1.681, RAW= 13.2, 16.7, CAL= 12.6, 20.5, ROT= 137.4, -20.5 2025-10-27T04:01:56.257Z,1761537716.257 [DAT](INFO): #Rx 29: Read direction message, but no range. 2025-10-27T04:01:56.258Z,1761537716.258 [DAT](INFO): direction in FSK: [-0.689482,0.634011,0.350207] 2025-10-27T04:01:56.275Z,1761537716.275 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.162164 2025-10-27T04:01:56.500Z,1761537716.500 [DAT](INFO): DAT read: Rx Time:04:01:55.3293 2025-10-27T04:01:56.501Z,1761537716.501 [DAT](INFO): Rx dataTimestamp_ set to:1761537716.500592 2025-10-27T04:01:56.502Z,1761537716.502 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.4 2025-10-27T04:01:56.503Z,1761537716.503 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T04:01:56.504Z,1761537716.504 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.390668 2025-10-27T04:01:56.557Z,1761537716.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003395,-0.998079,0.061853],[0.983076,-0.007998,-0.183024],[0.183168,0.061428,0.981161]] 2025-10-27T04:01:56.606Z,1761537716.606 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T04:01:56.606Z,1761537716.606 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T04:01:56.606Z,1761537716.606 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T04:01:56.606Z,1761537716.606 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T04:01:56.645Z,1761537716.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.498780 s, deltaX: 0.400000 m, approachRate: 0.801956 m/s, rangeRepo size: 4 2025-10-27T04:01:56.652Z,1761537716.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.728930 m, bearing: 230.604727 deg, lat: 36.779332 deg, lon: -121.859550 deg, deltaT: 1.002751 s, deltaX: 0.398283 m, approachRate: 0.397190 m/s, posRepo size: 4 2025-10-27T04:01:56.652Z,1761537716.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m. 2025-10-27T04:01:56.753Z,1761537716.753 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.639831 2025-10-27T04:01:56.953Z,1761537716.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022131,-0.997266,0.070499],[0.982424,-0.034766,-0.183399],[0.185348,0.065201,0.980507]] 2025-10-27T04:01:57.009Z,1761537717.009 [DAT](INFO): DAT read: Rx Time:04:01:55.8293 2025-10-27T04:01:57.011Z,1761537717.011 [DAT](INFO): Rx dataTimestamp_ set to:1761537717.009765 2025-10-27T04:01:57.017Z,1761537717.017 [DAT](INFO): DAT read: Bearing 351.8, 50.5 (Local) 2025-10-27T04:01:57.018Z,1761537717.018 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 50.5 (Local) 2025-10-27T04:01:57.038Z,1761537717.038 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.4 2025-10-27T04:01:57.075Z,1761537717.075 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T04:01:57.077Z,1761537717.077 [DAT](INFO): DAT read: 04:01:55.8293 LVL= 22384, 26225, 32754, 32755, AGC= 55, IDX= 512,-0.08,-1.571,-2.062,-2.618,-1.408, PHS=-0.061,-0.609,-1.254, RAW= 57.3, 33.3, CAL= 53.2, 39.8, ROT= 96.8, -39.8 2025-10-27T04:01:57.078Z,1761537717.078 [DAT](INFO): got valid direction response: 04:01:55.8293 LVL= 22384, 26225, 32754, 32755, AGC= 55, IDX= 512,-0.08,-1.571,-2.062,-2.618,-1.408, PHS=-0.061,-0.609,-1.254, RAW= 57.3, 33.3, CAL= 53.2, 39.8, ROT= 96.8, -39.8 2025-10-27T04:01:57.078Z,1761537717.078 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T04:01:57.091Z,1761537717.091 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T04:01:57.092Z,1761537717.092 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T04:01:57.092Z,1761537717.092 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T04:01:57.094Z,1761537717.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m. 2025-10-27T04:01:57.096Z,1761537717.096 [DAT](INFO): direction in FSK: [-0.090968,0.762879,0.640110] 2025-10-27T04:01:57.096Z,1761537717.096 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:57.108Z,1761537717.108 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.994527 2025-10-27T04:01:57.256Z,1761537717.256 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.143032 2025-10-27T04:01:57.372Z,1761537717.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048464,-0.995320,0.083602],[0.981063,-0.063149,-0.183105],[0.187528,0.073145,0.979532]] 2025-10-27T04:01:57.414Z,1761537717.414 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T04:01:57.414Z,1761537717.414 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T04:01:57.414Z,1761537717.414 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T04:01:57.415Z,1761537717.415 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T04:01:57.416Z,1761537717.416 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T04:01:57.416Z,1761537717.416 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T04:01:57.416Z,1761537717.416 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T04:01:57.416Z,1761537717.416 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T04:01:57.423Z,1761537717.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.509173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:01:57.425Z,1761537717.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.728930 m, bearing: 199.952686 deg, lat: 36.779333 deg, lon: -121.859550 deg, deltaT: 0.509173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:01:57.425Z,1761537717.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m. 2025-10-27T04:01:57.509Z,1761537717.509 [DAT](INFO): DAT read: Rx Time:04:01:56.3295 2025-10-27T04:01:57.509Z,1761537717.509 [DAT](INFO): Rx dataTimestamp_ set to:1761537717.508925 2025-10-27T04:01:57.511Z,1761537717.511 [DAT](INFO): DAT read: Bearing 41.1, 32.5 (Local) 2025-10-27T04:01:57.511Z,1761537717.511 [DAT](INFO): Local bearing/azimuth received: Bearing 41.1, 32.5 (Local) 2025-10-27T04:01:57.513Z,1761537717.513 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.4 2025-10-27T04:01:57.518Z,1761537717.518 [DAT](INFO): DAT read: 04:01:56.3295 LVL= 21696, 23409, 32754, 32755, AGC= 57, IDX= 2, 0.26, 1.522, 2.144, 0.190, 1.844, PHS=-0.220, 0.345,-1.698, RAW= 14.5, 16.9, CAL= 13.7, 20.6, ROT= 136.3, -20.6 2025-10-27T04:01:57.519Z,1761537717.519 [DAT](INFO): got valid direction response: 04:01:56.3295 LVL= 21696, 23409, 32754, 32755, AGC= 57, IDX= 2, 0.26, 1.522, 2.144, 0.190, 1.844, PHS=-0.220, 0.345,-1.698, RAW= 14.5, 16.9, CAL= 13.7, 20.6, ROT= 136.3, -20.6 2025-10-27T04:01:57.519Z,1761537717.519 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T04:01:57.520Z,1761537717.520 [DAT](INFO): direction in FSK: [-0.676740,0.646707,0.351842] 2025-10-27T04:01:57.520Z,1761537717.520 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:57.528Z,1761537717.528 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.415164 2025-10-27T04:01:57.760Z,1761537717.760 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.647118 2025-10-27T04:01:57.878Z,1761537717.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072932,-0.992797,0.095052],[0.979314,-0.089324,-0.181561],[0.188744,0.079844,0.978775]] 2025-10-27T04:01:57.909Z,1761537717.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.499160 s, deltaX: 0.300001 m, approachRate: 0.601012 m/s, rangeRepo size: 4 2025-10-27T04:01:57.912Z,1761537717.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.027653 m, bearing: 234.512074 deg, lat: 36.779337 deg, lon: -121.859557 deg, deltaT: 0.499160 s, deltaX: 0.298723 m, approachRate: 0.598452 m/s, posRepo size: 4 2025-10-27T04:01:57.912Z,1761537717.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.03 m. 2025-10-27T04:01:58.018Z,1761537718.018 [DAT](INFO): DAT read: Rx Time:04:01:56.8296 2025-10-27T04:01:58.021Z,1761537718.021 [DAT](INFO): Rx dataTimestamp_ set to:1761537718.018291 2025-10-27T04:01:58.026Z,1761537718.026 [DAT](INFO): DAT read: Bearing 43.0, 30.7 (Local) 2025-10-27T04:01:58.044Z,1761537718.044 [DAT](INFO): Local bearing/azimuth received: Bearing 43.0, 30.7 (Local) 2025-10-27T04:01:58.060Z,1761537718.060 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.4 2025-10-27T04:01:58.075Z,1761537718.075 [DAT](INFO): DAT read: 04:01:56.8296 LVL= 19008, 27233, 32754, 32755, AGC= 54, IDX= 499,-0.21,-2.823,-2.136, 2.215,-2.459, PHS=-0.262, 0.368,-1.653, RAW= 12.3, 17.0, CAL= 11.8, 20.8, ROT= 138.2, -20.8 2025-10-27T04:01:58.077Z,1761537718.077 [DAT](INFO): got valid direction response: 04:01:56.8296 LVL= 19008, 27233, 32754, 32755, AGC= 54, IDX= 499,-0.21,-2.823,-2.136, 2.215,-2.459, PHS=-0.262, 0.368,-1.653, RAW= 12.3, 17.0, CAL= 11.8, 20.8, ROT= 138.2, -20.8 2025-10-27T04:01:58.077Z,1761537718.077 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T04:01:58.078Z,1761537718.078 [DAT](INFO): direction in FSK: [-0.696890,0.623092,0.355107] 2025-10-27T04:01:58.078Z,1761537718.078 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:58.094Z,1761537718.094 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.980944 2025-10-27T04:01:58.264Z,1761537718.264 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.151031 2025-10-27T04:01:58.282Z,1761537718.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097457,-0.990058,0.101422],[0.977018,-0.114586,-0.179741],[0.189576,0.081574,0.978472]] 2025-10-27T04:01:58.354Z,1761537718.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.509366 s, deltaX: 0.199999 m, approachRate: 0.392643 m/s, rangeRepo size: 4 2025-10-27T04:01:58.361Z,1761537718.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.226805 m, bearing: 237.848265 deg, lat: 36.779347 deg, lon: -121.859565 deg, deltaT: 0.509366 s, deltaX: 0.199152 m, approachRate: 0.390980 m/s, posRepo size: 4 2025-10-27T04:01:58.361Z,1761537718.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.23 m. 2025-10-27T04:01:58.519Z,1761537718.519 [DAT](INFO): DAT read: Rx Time:04:01:57.3297 2025-10-27T04:01:58.520Z,1761537718.520 [DAT](INFO): Rx dataTimestamp_ set to:1761537718.519518 2025-10-27T04:01:58.521Z,1761537718.521 [DAT](INFO): DAT read: Bearing 44.0, 31.1 (Local) 2025-10-27T04:01:58.521Z,1761537718.521 [DAT](INFO): Local bearing/azimuth received: Bearing 44.0, 31.1 (Local) 2025-10-27T04:01:58.524Z,1761537718.524 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4 2025-10-27T04:01:58.547Z,1761537718.547 [DAT](INFO): DAT read: 04:01:57.3297 LVL= 18544, 30689, 32754, 32755, AGC= 55, IDX= 500,-0.06,-1.309,-0.653,-2.550,-0.943, PHS=-0.264, 0.335,-1.651, RAW= 12.9, 17.6, CAL= 12.3, 21.5, ROT= 137.7, -21.5 2025-10-27T04:01:58.548Z,1761537718.548 [DAT](INFO): got valid direction response: 04:01:57.3297 LVL= 18544, 30689, 32754, 32755, AGC= 55, IDX= 500,-0.06,-1.309,-0.653,-2.550,-0.943, PHS=-0.264, 0.335,-1.651, RAW= 12.9, 17.6, CAL= 12.3, 21.5, ROT= 137.7, -21.5 2025-10-27T04:01:58.549Z,1761537718.549 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T04:01:58.550Z,1761537718.550 [DAT](INFO): direction in FSK: [-0.688166,0.626183,0.366501] 2025-10-27T04:01:58.550Z,1761537718.550 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:58.596Z,1761537718.596 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.482784 2025-10-27T04:01:58.749Z,1761537718.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121399,-0.987108,0.104309],[0.974278,-0.138598,-0.177689],[0.189855,0.080055,0.978543]] 2025-10-27T04:01:58.768Z,1761537718.768 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.654861 2025-10-27T04:01:58.804Z,1761537718.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.501227 s, deltaX: 0.100000 m, approachRate: 0.199511 m/s, rangeRepo size: 4 2025-10-27T04:01:58.806Z,1761537718.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.326239 m, bearing: 238.887291 deg, lat: 36.779353 deg, lon: -121.859566 deg, deltaT: 0.501227 s, deltaX: 0.099434 m, approachRate: 0.198381 m/s, posRepo size: 4 2025-10-27T04:01:58.811Z,1761537718.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.33 m. 2025-10-27T04:01:59.021Z,1761537719.021 [DAT](INFO): DAT read: Rx Time:04:01:57.8297 2025-10-27T04:01:59.022Z,1761537719.022 [DAT](INFO): Rx dataTimestamp_ set to:1761537719.021575 2025-10-27T04:01:59.023Z,1761537719.023 [DAT](INFO): DAT read: Bearing 45.3, 32.4 (Local) 2025-10-27T04:01:59.024Z,1761537719.024 [DAT](INFO): Local bearing/azimuth received: Bearing 45.3, 32.4 (Local) 2025-10-27T04:01:59.026Z,1761537719.026 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4 2025-10-27T04:01:59.032Z,1761537719.032 [DAT](INFO): DAT read: 04:01:57.8297 LVL= 18464, 30353, 32754, 32755, AGC= 55, IDX= 500, 0.15, 0.244, 0.857,-1.067, 0.584, PHS=-0.238, 0.318,-1.695, RAW= 14.5, 17.6, CAL= 13.7, 21.4, ROT= 136.3, -21.4 2025-10-27T04:01:59.036Z,1761537719.036 [DAT](INFO): got valid direction response: 04:01:57.8297 LVL= 18464, 30353, 32754, 32755, AGC= 55, IDX= 500, 0.15, 0.244, 0.857,-1.067, 0.584, PHS=-0.238, 0.318,-1.695, RAW= 14.5, 17.6, CAL= 13.7, 21.4, ROT= 136.3, -21.4 2025-10-27T04:01:59.037Z,1761537719.037 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T04:01:59.040Z,1761537719.040 [DAT](INFO): direction in FSK: [-0.673123,0.643250,0.364877] 2025-10-27T04:01:59.041Z,1761537719.041 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:59.061Z,1761537719.061 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.945812 2025-10-27T04:01:59.272Z,1761537719.272 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.158749 2025-10-27T04:01:59.337Z,1761537719.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.502057 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:01:59.340Z,1761537719.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.326239 m, bearing: 237.536085 deg, lat: 36.779358 deg, lon: -121.859566 deg, deltaT: 0.502057 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:01:59.340Z,1761537719.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.33 m. 2025-10-27T04:01:59.524Z,1761537719.524 [DAT](INFO): DAT read: Rx Time:04:01:58.3300 2025-10-27T04:01:59.525Z,1761537719.525 [DAT](INFO): Rx dataTimestamp_ set to:1761537719.524679 2025-10-27T04:01:59.526Z,1761537719.526 [DAT](INFO): DAT read: Bearing 46.4, 31.8 (Local) 2025-10-27T04:01:59.527Z,1761537719.527 [DAT](INFO): Local bearing/azimuth received: Bearing 46.4, 31.8 (Local) 2025-10-27T04:01:59.529Z,1761537719.529 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 2025-10-27T04:01:59.534Z,1761537719.534 [DAT](INFO): DAT read: 04:01:58.3300 LVL= 18096, 29361, 32754, 32755, AGC= 54, IDX= 503,-0.32,-0.435, 0.198,-1.733,-0.079, PHS=-0.253, 0.322,-1.698, RAW= 14.0, 17.7, CAL= 13.2, 21.6, ROT= 136.8, -21.6 2025-10-27T04:01:59.535Z,1761537719.535 [DAT](INFO): got valid direction response: 04:01:58.3300 LVL= 18096, 29361, 32754, 32755, AGC= 54, IDX= 503,-0.32,-0.435, 0.198,-1.733,-0.079, PHS=-0.253, 0.322,-1.698, RAW= 14.0, 17.7, CAL= 13.2, 21.6, ROT= 136.8, -21.6 2025-10-27T04:01:59.536Z,1761537719.536 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T04:01:59.537Z,1761537719.537 [DAT](INFO): direction in FSK: [-0.677778,0.636476,0.368125] 2025-10-27T04:01:59.537Z,1761537719.537 [DAT](INFO): publishing direction and range info 2025-10-27T04:01:59.541Z,1761537719.541 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.427862 2025-10-27T04:01:59.678Z,1761537719.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191226,-0.977616,0.087752],[0.963863,-0.203923,-0.171417],[0.185475,0.051801,0.981283]] 2025-10-27T04:01:59.744Z,1761537719.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503104 s, deltaX: 0.500000 m, approachRate: 0.993830 m/s, rangeRepo size: 4 2025-10-27T04:01:59.746Z,1761537719.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.823999 m, bearing: 241.454093 deg, lat: 36.779359 deg, lon: -121.859570 deg, deltaT: 0.503104 s, deltaX: 0.497761 m, approachRate: 0.989379 m/s, posRepo size: 4 2025-10-27T04:01:59.746Z,1761537719.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.82 m. 2025-10-27T04:01:59.776Z,1761537719.776 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.663000 2025-10-27T04:02:00.033Z,1761537720.033 [DAT](INFO): DAT read: Rx Time:04:01:58.8300 2025-10-27T04:02:00.034Z,1761537720.034 [DAT](INFO): Rx dataTimestamp_ set to:1761537720.033482 2025-10-27T04:02:00.038Z,1761537720.038 [DAT](INFO): DAT read: Bearing 46.7, 32.6 (Local) 2025-10-27T04:02:00.039Z,1761537720.039 [DAT](INFO): Local bearing/azimuth received: Bearing 46.7, 32.6 (Local) 2025-10-27T04:02:00.046Z,1761537720.046 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 2025-10-27T04:02:00.104Z,1761537720.104 [DAT](INFO): DAT read: 04:01:58.8300 LVL= 15856, 32113, 29106, 32755, AGC= 53, IDX= 503, 0.13,-1.727,-1.147,-3.049,-1.393, PHS=-0.232, 0.291,-1.700, RAW= 15.3, 18.0, CAL= 14.5, 21.8, ROT= 135.5, -21.8 2025-10-27T04:02:00.106Z,1761537720.106 [DAT](INFO): got valid direction response: 04:01:58.8300 LVL= 15856, 32113, 29106, 32755, AGC= 53, IDX= 503, 0.13,-1.727,-1.147,-3.049,-1.393, PHS=-0.232, 0.291,-1.700, RAW= 15.3, 18.0, CAL= 14.5, 21.8, ROT= 135.5, -21.8 2025-10-27T04:02:00.107Z,1761537720.107 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T04:02:00.117Z,1761537720.117 [DAT](INFO): direction in FSK: [-0.662243,0.650784,0.371368] 2025-10-27T04:02:00.117Z,1761537720.117 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:00.146Z,1761537720.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213853,-0.973744,0.078035],[0.959618,-0.224351,-0.169705],[0.182756,0.038592,0.982401]] 2025-10-27T04:02:00.147Z,1761537720.147 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.034161 2025-10-27T04:02:00.248Z,1761537720.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.508803 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:00.250Z,1761537720.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.823999 m, bearing: 241.261902 deg, lat: 36.779361 deg, lon: -121.859570 deg, deltaT: 0.508803 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:00.250Z,1761537720.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.82 m. 2025-10-27T04:02:00.280Z,1761537720.280 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.167048 2025-10-27T04:02:00.524Z,1761537720.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236234,-0.969349,0.067497],[0.954937,-0.244444,-0.168350],[0.179690,0.024686,0.983414]] 2025-10-27T04:02:00.533Z,1761537720.533 [DAT](INFO): DAT read: Rx Time:04:01:59.3303 2025-10-27T04:02:00.533Z,1761537720.533 [DAT](INFO): Rx dataTimestamp_ set to:1761537720.532810 2025-10-27T04:02:00.534Z,1761537720.534 [DAT](INFO): DAT read: Bearing 47.5, 32.8 (Local) 2025-10-27T04:02:00.535Z,1761537720.535 [DAT](INFO): Local bearing/azimuth received: Bearing 47.5, 32.8 (Local) 2025-10-27T04:02:00.537Z,1761537720.537 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4 2025-10-27T04:02:00.542Z,1761537720.542 [DAT](INFO): DAT read: 04:01:59.3303 LVL= 17808, 26737, 31442, 32755, AGC= 54, IDX= 506,-0.27,-2.613,-2.041, 2.325,-2.286, PHS=-0.225, 0.290,-1.717, RAW= 15.7, 17.9, CAL= 14.8, 21.7, ROT= 135.2, -21.7 2025-10-27T04:02:00.543Z,1761537720.543 [DAT](INFO): got valid direction response: 04:01:59.3303 LVL= 17808, 26737, 31442, 32755, AGC= 54, IDX= 506,-0.27,-2.613,-2.041, 2.325,-2.286, PHS=-0.225, 0.290,-1.717, RAW= 15.7, 17.9, CAL= 14.8, 21.7, ROT= 135.2, -21.7 2025-10-27T04:02:00.543Z,1761537720.543 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T04:02:00.544Z,1761537720.544 [DAT](INFO): direction in FSK: [-0.659285,0.654699,0.369747] 2025-10-27T04:02:00.544Z,1761537720.544 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:00.548Z,1761537720.548 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.435181 2025-10-27T04:02:00.566Z,1761537720.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.499328 s, deltaX: 0.400000 m, approachRate: 0.801076 m/s, rangeRepo size: 4 2025-10-27T04:02:00.568Z,1761537720.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.222300 m, bearing: 241.948275 deg, lat: 36.779362 deg, lon: -121.859570 deg, deltaT: 0.499328 s, deltaX: 0.398300 m, approachRate: 0.797672 m/s, posRepo size: 4 2025-10-27T04:02:00.568Z,1761537720.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.22 m. 2025-10-27T04:02:00.785Z,1761537720.785 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.671463 2025-10-27T04:02:00.921Z,1761537720.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258441,-0.963918,0.063795],[0.949813,-0.265597,-0.165269],[0.176250,0.017881,0.984183]] 2025-10-27T04:02:00.939Z,1761537720.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.22 m. 2025-10-27T04:02:01.037Z,1761537721.037 [DAT](INFO): DAT read: Rx Time:04:01:59.8303 2025-10-27T04:02:01.038Z,1761537721.038 [DAT](INFO): Rx dataTimestamp_ set to:1761537721.037690 2025-10-27T04:02:01.040Z,1761537721.040 [DAT](INFO): DAT read: Bearing 47.8, 33.8 (Local) 2025-10-27T04:02:01.040Z,1761537721.040 [DAT](INFO): Local bearing/azimuth received: Bearing 47.8, 33.8 (Local) 2025-10-27T04:02:01.044Z,1761537721.044 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4 2025-10-27T04:02:01.058Z,1761537721.058 [DAT](INFO): DAT read: 04:01:59.8303 LVL= 18048, 24017, 30866, 32755, AGC= 54, IDX= 506,-0.01,-1.275,-0.759,-2.644,-0.971, PHS=-0.203, 0.257,-1.718, RAW= 17.2, 18.2, CAL= 16.1, 21.9, ROT= 133.9, -21.9 2025-10-27T04:02:01.066Z,1761537721.066 [DAT](INFO): got valid direction response: 04:01:59.8303 LVL= 18048, 24017, 30866, 32755, AGC= 54, IDX= 506,-0.01,-1.275,-0.759,-2.644,-0.971, PHS=-0.203, 0.257,-1.718, RAW= 17.2, 18.2, CAL= 16.1, 21.9, ROT= 133.9, -21.9 2025-10-27T04:02:01.076Z,1761537721.076 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T04:02:01.104Z,1761537721.104 [DAT](INFO): direction in FSK: [-0.643363,0.668553,0.372988] 2025-10-27T04:02:01.105Z,1761537721.105 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:01.142Z,1761537721.142 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.028667 2025-10-27T04:02:01.288Z,1761537721.288 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.174923 2025-10-27T04:02:01.325Z,1761537721.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279593,-0.957930,0.064796],[0.944576,-0.286534,-0.160236],[0.172061,0.016404,0.984950]] 2025-10-27T04:02:01.378Z,1761537721.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504880 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:01.381Z,1761537721.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.222136 m, bearing: 243.069964 deg, lat: 36.779362 deg, lon: -121.859569 deg, deltaT: 0.504880 s, deltaX: -0.000164 m, approachRate: -0.000325 m/s, posRepo size: 4 2025-10-27T04:02:01.381Z,1761537721.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.22 m. 2025-10-27T04:02:01.383Z,1761537721.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 59.922119 m. 2025-10-27T04:02:01.541Z,1761537721.541 [DAT](INFO): DAT read: Rx Time:04:02:00.3305 2025-10-27T04:02:01.542Z,1761537721.542 [DAT](INFO): Rx dataTimestamp_ set to:1761537721.541094 2025-10-27T04:02:01.543Z,1761537721.543 [DAT](INFO): DAT read: Bearing 49.9, 34.0 (Local) 2025-10-27T04:02:01.544Z,1761537721.544 [DAT](INFO): Local bearing/azimuth received: Bearing 49.9, 34.0 (Local) 2025-10-27T04:02:01.547Z,1761537721.547 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.4 2025-10-27T04:02:01.553Z,1761537721.553 [DAT](INFO): DAT read: 04:02:00.3305 LVL= 19136, 28577, 29618, 32755, AGC= 55, IDX= 508, 0.27, 2.512, 3.041, 1.128, 2.806, PHS=-0.192, 0.280,-1.722, RAW= 17.0, 17.7, CAL= 15.9, 21.4, ROT= 134.1, -21.4 2025-10-27T04:02:01.555Z,1761537721.555 [DAT](INFO): got valid direction response: 04:02:00.3305 LVL= 19136, 28577, 29618, 32755, AGC= 55, IDX= 508, 0.27, 2.512, 3.041, 1.128, 2.806, PHS=-0.192, 0.280,-1.722, RAW= 17.0, 17.7, CAL= 15.9, 21.4, ROT= 134.1, -21.4 2025-10-27T04:02:01.556Z,1761537721.556 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T04:02:01.557Z,1761537721.557 [DAT](INFO): direction in FSK: [-0.647934,0.668616,0.364877] 2025-10-27T04:02:01.558Z,1761537721.558 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:01.563Z,1761537721.563 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.449696 2025-10-27T04:02:01.756Z,1761537721.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301211,-0.951104,0.068358],[0.938776,-0.308352,-0.153685],[0.167249,0.017881,0.985753]] 2025-10-27T04:02:01.792Z,1761537721.792 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.679033 2025-10-27T04:02:01.804Z,1761537721.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503404 s, deltaX: 0.300001 m, approachRate: 0.595945 m/s, rangeRepo size: 4 2025-10-27T04:02:01.806Z,1761537721.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.520746 m, bearing: 244.467616 deg, lat: 36.779363 deg, lon: -121.859570 deg, deltaT: 0.503404 s, deltaX: 0.298611 m, approachRate: 0.593183 m/s, posRepo size: 4 2025-10-27T04:02:01.811Z,1761537721.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.52 m. 2025-10-27T04:02:02.048Z,1761537722.048 [DAT](INFO): DAT read: Rx Time:04:02:00.8306 2025-10-27T04:02:02.049Z,1761537722.049 [DAT](INFO): Rx dataTimestamp_ set to:1761537722.048279 2025-10-27T04:02:02.050Z,1761537722.050 [DAT](INFO): DAT read: Bearing 51.9, 34.0 (Local) 2025-10-27T04:02:02.051Z,1761537722.051 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, 34.0 (Local) 2025-10-27T04:02:02.053Z,1761537722.053 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 2025-10-27T04:02:02.058Z,1761537722.058 [DAT](INFO): DAT read: 04:02:00.8306 LVL= 21168, 24097, 31794, 32755, AGC= 57, IDX= 509,-0.21, 0.142, 0.695,-1.226, 0.439, PHS=-0.196, 0.301,-1.709, RAW= 16.3, 17.4, CAL= 15.3, 21.0, ROT= 134.7, -21.0 2025-10-27T04:02:02.080Z,1761537722.080 [DAT](INFO): got valid direction response: 04:02:00.8306 LVL= 21168, 24097, 31794, 32755, AGC= 57, IDX= 509,-0.21, 0.142, 0.695,-1.226, 0.439, PHS=-0.196, 0.301,-1.709, RAW= 16.3, 17.4, CAL= 15.3, 21.0, ROT= 134.7, -21.0 2025-10-27T04:02:02.081Z,1761537722.081 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T04:02:02.109Z,1761537722.109 [DAT](INFO): direction in FSK: [-0.656675,0.663589,0.358368] 2025-10-27T04:02:02.110Z,1761537722.110 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:02.144Z,1761537722.144 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.030951 2025-10-27T04:02:02.167Z,1761537722.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322579,-0.943949,0.070026],[0.932554,-0.329613,-0.147304],[0.162129,0.017786,0.986609]] 2025-10-27T04:02:02.282Z,1761537722.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.507185 s, deltaX: 0.199999 m, approachRate: 0.394331 m/s, rangeRepo size: 4 2025-10-27T04:02:02.288Z,1761537722.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.719893 m, bearing: 246.220517 deg, lat: 36.779363 deg, lon: -121.859570 deg, deltaT: 0.507185 s, deltaX: 0.199146 m, approachRate: 0.392650 m/s, posRepo size: 4 2025-10-27T04:02:02.289Z,1761537722.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T04:02:02.296Z,1761537722.296 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.182890 2025-10-27T04:02:02.549Z,1761537722.549 [DAT](INFO): DAT read: Rx Time:04:02:01.3307 2025-10-27T04:02:02.549Z,1761537722.549 [DAT](INFO): Rx dataTimestamp_ set to:1761537722.548919 2025-10-27T04:02:02.550Z,1761537722.550 [DAT](INFO): DAT read: Bearing 53.4, 35.3 (Local) 2025-10-27T04:02:02.551Z,1761537722.551 [DAT](INFO): Local bearing/azimuth received: Bearing 53.4, 35.3 (Local) 2025-10-27T04:02:02.553Z,1761537722.553 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 2025-10-27T04:02:02.557Z,1761537722.557 [DAT](INFO): DAT read: 04:02:01.3307 LVL= 19856, 24433, 31394, 32755, AGC= 57, IDX= 510, 0.08, 1.853, 2.366, 0.457, 2.119, PHS=-0.164, 0.292,-1.706, RAW= 17.4, 17.1, CAL= 16.3, 20.7, ROT= 133.7, -20.7 2025-10-27T04:02:02.559Z,1761537722.559 [DAT](INFO): got valid direction response: 04:02:01.3307 LVL= 19856, 24433, 31394, 32755, AGC= 57, IDX= 510, 0.08, 1.853, 2.366, 0.457, 2.119, PHS=-0.164, 0.292,-1.706, RAW= 17.4, 17.1, CAL= 16.3, 20.7, ROT= 133.7, -20.7 2025-10-27T04:02:02.559Z,1761537722.559 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T04:02:02.560Z,1761537722.560 [DAT](INFO): direction in FSK: [-0.646282,0.676295,0.353475] 2025-10-27T04:02:02.560Z,1761537722.560 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:02.564Z,1761537722.564 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.450891 2025-10-27T04:02:02.706Z,1761537722.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342808,-0.936718,0.071012],[0.926270,-0.349644,-0.140619],[0.156549,0.017571,0.987514]] 2025-10-27T04:02:02.772Z,1761537722.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.500640 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:02.774Z,1761537722.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.719685 m, bearing: 246.384368 deg, lat: 36.779365 deg, lon: -121.859570 deg, deltaT: 0.500640 s, deltaX: -0.000208 m, approachRate: -0.000415 m/s, posRepo size: 4 2025-10-27T04:02:02.779Z,1761537722.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T04:02:02.800Z,1761537722.800 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.687044 2025-10-27T04:02:03.052Z,1761537723.052 [DAT](INFO): DAT read: Rx Time:04:02:01.8307 2025-10-27T04:02:03.053Z,1761537723.053 [DAT](INFO): Rx dataTimestamp_ set to:1761537723.052681 2025-10-27T04:02:03.054Z,1761537723.054 [DAT](INFO): DAT read: Bearing 54.7, 35.4 (Local) 2025-10-27T04:02:03.055Z,1761537723.055 [DAT](INFO): Local bearing/azimuth received: Bearing 54.7, 35.4 (Local) 2025-10-27T04:02:03.057Z,1761537723.057 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 2025-10-27T04:02:03.061Z,1761537723.061 [DAT](INFO): DAT read: 04:02:01.8307 LVL= 21168, 27265, 32754, 32755, AGC= 56, IDX= 510, 0.44, 0.114, 0.637,-1.271, 0.388, PHS=-0.171, 0.294,-1.703, RAW= 17.1, 17.2, CAL= 16.1, 20.8, ROT= 133.9, -20.8 2025-10-27T04:02:03.062Z,1761537723.062 [DAT](INFO): got valid direction response: 04:02:01.8307 LVL= 21168, 27265, 32754, 32755, AGC= 56, IDX= 510, 0.44, 0.114, 0.637,-1.271, 0.388, PHS=-0.171, 0.294,-1.703, RAW= 17.1, 17.2, CAL= 16.1, 20.8, ROT= 133.9, -20.8 2025-10-27T04:02:03.063Z,1761537723.063 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T04:02:03.064Z,1761537723.064 [DAT](INFO): direction in FSK: [-0.648210,0.673590,0.355107] 2025-10-27T04:02:03.064Z,1761537723.064 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:03.068Z,1761537723.068 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.955015 2025-10-27T04:02:03.212Z,1761537723.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362147,-0.929472,0.070221],[0.919893,-0.368543,-0.134064],[0.150488,0.016045,0.988482]] 2025-10-27T04:02:03.304Z,1761537723.304 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.190985 2025-10-27T04:02:03.323Z,1761537723.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503762 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:03.325Z,1761537723.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.719685 m, bearing: 247.672140 deg, lat: 36.779367 deg, lon: -121.859569 deg, deltaT: 0.503762 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:03.326Z,1761537723.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T04:02:03.558Z,1761537723.558 [DAT](INFO): DAT read: Rx Time:04:02:02.3310 2025-10-27T04:02:03.558Z,1761537723.558 [DAT](INFO): Rx dataTimestamp_ set to:1761537723.558048 2025-10-27T04:02:03.560Z,1761537723.560 [DAT](INFO): DAT read: Bearing 67.7, 29.2 (Local) 2025-10-27T04:02:03.561Z,1761537723.561 [DAT](INFO): Local bearing/azimuth received: Bearing 67.7, 29.2 (Local) 2025-10-27T04:02:03.563Z,1761537723.563 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.4 2025-10-27T04:02:03.568Z,1761537723.568 [DAT](INFO): DAT read: 04:02:02.3310 LVL= 21088, 24257, 32754, 32755, AGC= 53, IDX= 513,-0.13, 3.022,-2.303, 1.727,-2.976, PHS=-0.183, 0.719,-1.624, RAW= 7.6, 10.6, CAL= 7.6, 12.0, ROT= 142.4, -12.0 2025-10-27T04:02:03.569Z,1761537723.569 [DAT](INFO): got valid direction response: 04:02:02.3310 LVL= 21088, 24257, 32754, 32755, AGC= 53, IDX= 513,-0.13, 3.022,-2.303, 1.727,-2.976, PHS=-0.183, 0.719,-1.624, RAW= 7.6, 10.6, CAL= 7.6, 12.0, ROT= 142.4, -12.0 2025-10-27T04:02:03.569Z,1761537723.569 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T04:02:03.570Z,1761537723.570 [DAT](INFO): direction in FSK: [-0.774976,0.596812,0.207912] 2025-10-27T04:02:03.604Z,1761537723.604 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:03.637Z,1761537723.637 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.524141 2025-10-27T04:02:03.734Z,1761537723.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397641,-0.915291,0.064217],[0.907213,-0.402673,-0.121736],[0.137282,0.009852,0.990483]] 2025-10-27T04:02:03.785Z,1761537723.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.505367 s, deltaX: 0.400002 m, approachRate: 0.791507 m/s, rangeRepo size: 4 2025-10-27T04:02:03.791Z,1761537723.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.117844 m, bearing: 256.938184 deg, lat: 36.779368 deg, lon: -121.859570 deg, deltaT: 0.505367 s, deltaX: 0.398159 m, approachRate: 0.787861 m/s, posRepo size: 4 2025-10-27T04:02:03.792Z,1761537723.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T04:02:03.808Z,1761537723.808 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.695118 2025-10-27T04:02:04.062Z,1761537724.062 [DAT](INFO): DAT read: Rx Time:04:02:02.8310 2025-10-27T04:02:04.062Z,1761537724.062 [DAT](INFO): Rx dataTimestamp_ set to:1761537724.061848 2025-10-27T04:02:04.064Z,1761537724.064 [DAT](INFO): DAT read: Bearing 71.9, 30.8 (Local) 2025-10-27T04:02:04.065Z,1761537724.065 [DAT](INFO): Local bearing/azimuth received: Bearing 71.9, 30.8 (Local) 2025-10-27T04:02:04.072Z,1761537724.072 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.3 2025-10-27T04:02:04.080Z,1761537724.080 [DAT](INFO): DAT read: 04:02:02.8310 LVL= 21072, 24849, 32242, 32755, AGC= 53, IDX= 513, 0.12, 2.321,-2.966, 0.874, 2.528, PHS=-0.105, 0.835,-1.698, RAW= 8.5, 8.8, CAL= 8.4, 9.3, ROT= 141.6, -9.3 2025-10-27T04:02:04.081Z,1761537724.081 [DAT](INFO): got valid direction response: 04:02:02.8310 LVL= 21072, 24849, 32242, 32755, AGC= 53, IDX= 513, 0.12, 2.321,-2.966, 0.874, 2.528, PHS=-0.105, 0.835,-1.698, RAW= 8.5, 8.8, CAL= 8.4, 9.3, ROT= 141.6, -9.3 2025-10-27T04:02:04.082Z,1761537724.082 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T04:02:04.083Z,1761537724.083 [DAT](INFO): direction in FSK: [-0.773392,0.612983,0.161604] 2025-10-27T04:02:04.084Z,1761537724.084 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:04.087Z,1761537724.087 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.974348 2025-10-27T04:02:04.220Z,1761537724.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413490,-0.908420,0.061638],[0.901184,-0.417980,-0.114715],[0.129972,0.008113,0.991484]] 2025-10-27T04:02:04.300Z,1761537724.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:04.302Z,1761537724.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.117844 m, bearing: 256.845857 deg, lat: 36.779370 deg, lon: -121.859572 deg, deltaT: 0.503800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:04.302Z,1761537724.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T04:02:04.312Z,1761537724.312 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.198944 2025-10-27T04:02:04.565Z,1761537724.565 [DAT](INFO): DAT read: Rx Time:04:02:03.3312 2025-10-27T04:02:04.566Z,1761537724.566 [DAT](INFO): Rx dataTimestamp_ set to:1761537724.565435 2025-10-27T04:02:04.568Z,1761537724.568 [DAT](INFO): DAT read: Bearing 58.2, 37.7 (Local) 2025-10-27T04:02:04.568Z,1761537724.568 [DAT](INFO): Local bearing/azimuth received: Bearing 58.2, 37.7 (Local) 2025-10-27T04:02:04.571Z,1761537724.571 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.3 2025-10-27T04:02:04.576Z,1761537724.576 [DAT](INFO): DAT read: 04:02:03.3312 LVL= 19616, 16065, 26194, 30483, AGC= 55, IDX= 3, 0.33,-0.743,-0.266,-2.178,-0.511, PHS=-0.130, 0.290,-1.711, RAW= 18.5, 16.7, CAL= 17.3, 20.2, ROT= 132.7, -20.2 2025-10-27T04:02:04.577Z,1761537724.577 [DAT](INFO): got valid direction response: 04:02:03.3312 LVL= 19616, 16065, 26194, 30483, AGC= 55, IDX= 3, 0.33,-0.743,-0.266,-2.178,-0.511, PHS=-0.130, 0.290,-1.711, RAW= 18.5, 16.7, CAL= 17.3, 20.2, ROT= 132.7, -20.2 2025-10-27T04:02:04.577Z,1761537724.577 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T04:02:04.578Z,1761537724.578 [DAT](INFO): direction in FSK: [-0.636448,0.689712,0.345298] 2025-10-27T04:02:04.578Z,1761537724.578 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:04.586Z,1761537724.586 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.473124 2025-10-27T04:02:04.732Z,1761537724.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428903,-0.901586,0.056426],[0.895029,-0.432581,-0.108617],[0.122336,0.003917,0.992481]] 2025-10-27T04:02:04.765Z,1761537724.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503587 s, deltaX: 0.299999 m, approachRate: 0.595725 m/s, rangeRepo size: 4 2025-10-27T04:02:04.768Z,1761537724.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.416477 m, bearing: 250.011105 deg, lat: 36.779372 deg, lon: -121.859570 deg, deltaT: 0.503587 s, deltaX: 0.298634 m, approachRate: 0.593013 m/s, posRepo size: 4 2025-10-27T04:02:04.768Z,1761537724.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m. 2025-10-27T04:02:04.816Z,1761537724.816 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.702982 2025-10-27T04:02:05.069Z,1761537725.069 [DAT](INFO): DAT read: Rx Time:04:02:03.8312 2025-10-27T04:02:05.069Z,1761537725.069 [DAT](INFO): Rx dataTimestamp_ set to:1761537725.068707 2025-10-27T04:02:05.070Z,1761537725.070 [DAT](INFO): DAT read: Bearing 58.8, 38.6 (Local) 2025-10-27T04:02:05.071Z,1761537725.071 [DAT](INFO): Local bearing/azimuth received: Bearing 58.8, 38.6 (Local) 2025-10-27T04:02:05.073Z,1761537725.073 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.3 2025-10-27T04:02:05.077Z,1761537725.077 [DAT](INFO): DAT read: 04:02:03.8312 LVL= 20576, 25201, 32754, 32755, AGC= 52, IDX= 499, 0.47,-2.249,-1.792, 2.575,-2.028, PHS=-0.118, 0.281,-1.724, RAW= 19.2, 16.7, CAL= 17.9, 20.1, ROT= 132.1, -20.1 2025-10-27T04:02:05.078Z,1761537725.078 [DAT](INFO): got valid direction response: 04:02:03.8312 LVL= 20576, 25201, 32754, 32755, AGC= 52, IDX= 499, 0.47,-2.249,-1.792, 2.575,-2.028, PHS=-0.118, 0.281,-1.724, RAW= 19.2, 16.7, CAL= 17.9, 20.1, ROT= 132.1, -20.1 2025-10-27T04:02:05.080Z,1761537725.080 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T04:02:05.081Z,1761537725.081 [DAT](INFO): direction in FSK: [-0.629594,0.696785,0.343660] 2025-10-27T04:02:05.081Z,1761537725.081 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:05.084Z,1761537725.084 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.971447 2025-10-27T04:02:05.210Z,1761537725.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443595,-0.894699,0.052313],[0.888870,-0.446667,-0.101973],[0.114602,0.001265,0.993411]] 2025-10-27T04:02:05.307Z,1761537725.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503272 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:05.309Z,1761537725.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.416477 m, bearing: 250.199692 deg, lat: 36.779372 deg, lon: -121.859570 deg, deltaT: 0.503272 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:05.309Z,1761537725.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m. 2025-10-27T04:02:05.320Z,1761537725.320 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.206997 2025-10-27T04:02:05.573Z,1761537725.573 [DAT](INFO): DAT read: Rx Time:04:02:04.3313 2025-10-27T04:02:05.573Z,1761537725.573 [DAT](INFO): Rx dataTimestamp_ set to:1761537725.572751 2025-10-27T04:02:05.574Z,1761537725.574 [DAT](INFO): DAT read: Bearing 59.7, 39.8 (Local) 2025-10-27T04:02:05.575Z,1761537725.575 [DAT](INFO): Local bearing/azimuth received: Bearing 59.7, 39.8 (Local) 2025-10-27T04:02:05.577Z,1761537725.577 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2 2025-10-27T04:02:05.582Z,1761537725.582 [DAT](INFO): DAT read: 04:02:04.3313 LVL= 20304, 24097, 32754, 32755, AGC= 51, IDX= 500, 0.46,-2.184,-1.765, 2.623,-1.991, PHS=-0.092, 0.270,-1.714, RAW= 20.1, 16.5, CAL= 18.8, 19.8, ROT= 131.2, -19.8 2025-10-27T04:02:05.583Z,1761537725.583 [DAT](INFO): got valid direction response: 04:02:04.3313 LVL= 20304, 24097, 32754, 32755, AGC= 51, IDX= 500, 0.46,-2.184,-1.765, 2.623,-1.991, PHS=-0.092, 0.270,-1.714, RAW= 20.1, 16.5, CAL= 18.8, 19.8, ROT= 131.2, -19.8 2025-10-27T04:02:05.583Z,1761537725.583 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T04:02:05.584Z,1761537725.584 [DAT](INFO): direction in FSK: [-0.619748,0.707933,0.338738] 2025-10-27T04:02:05.584Z,1761537725.584 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:05.612Z,1761537725.612 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.489763 2025-10-27T04:02:05.689Z,1761537725.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470704,-0.881293,0.041959],[0.876825,-0.472545,-0.088765],[0.098055,-0.004991,0.995168]] 2025-10-27T04:02:05.755Z,1761537725.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504044 s, deltaX: 0.200001 m, approachRate: 0.396792 m/s, rangeRepo size: 4 2025-10-27T04:02:05.757Z,1761537725.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.615572 m, bearing: 250.700873 deg, lat: 36.779372 deg, lon: -121.859570 deg, deltaT: 0.504044 s, deltaX: 0.199095 m, approachRate: 0.394995 m/s, posRepo size: 4 2025-10-27T04:02:05.758Z,1761537725.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m. 2025-10-27T04:02:05.824Z,1761537725.824 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.711046 2025-10-27T04:02:06.076Z,1761537726.076 [DAT](INFO): DAT read: Rx Time:04:02:04.8313 2025-10-27T04:02:06.077Z,1761537726.077 [DAT](INFO): Rx dataTimestamp_ set to:1761537726.076660 2025-10-27T04:02:06.078Z,1761537726.078 [DAT](INFO): DAT read: Bearing 60.1, 41.2 (Local) 2025-10-27T04:02:06.079Z,1761537726.079 [DAT](INFO): Local bearing/azimuth received: Bearing 60.1, 41.2 (Local) 2025-10-27T04:02:06.081Z,1761537726.081 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2 2025-10-27T04:02:06.085Z,1761537726.085 [DAT](INFO): DAT read: 04:02:04.8313 LVL= 20384, 25841, 32754, 32755, AGC= 52, IDX= 500, 0.30,-2.310,-1.935, 2.462,-2.140, PHS=-0.068, 0.250,-1.725, RAW= 21.4, 16.5, CAL= 19.9, 19.7, ROT= 130.1, -19.7 2025-10-27T04:02:06.086Z,1761537726.086 [DAT](INFO): got valid direction response: 04:02:04.8313 LVL= 20384, 25841, 32754, 32755, AGC= 52, IDX= 500, 0.30,-2.310,-1.935, 2.462,-2.140, PHS=-0.068, 0.250,-1.725, RAW= 21.4, 16.5, CAL= 19.9, 19.7, ROT= 130.1, -19.7 2025-10-27T04:02:06.087Z,1761537726.087 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T04:02:06.088Z,1761537726.088 [DAT](INFO): direction in FSK: [-0.606424,0.720151,0.337095] 2025-10-27T04:02:06.088Z,1761537726.088 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:06.092Z,1761537726.092 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.978916 2025-10-27T04:02:06.235Z,1761537726.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483380,-0.874569,0.038387],[0.870797,-0.484866,-0.081352],[0.089761,-0.005897,0.995946]] 2025-10-27T04:02:06.325Z,1761537726.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503909 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:06.328Z,1761537726.328 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.215031 2025-10-27T04:02:06.333Z,1761537726.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.615572 m, bearing: 250.309592 deg, lat: 36.779372 deg, lon: -121.859568 deg, deltaT: 0.503909 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:06.334Z,1761537726.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m. 2025-10-27T04:02:06.581Z,1761537726.581 [DAT](INFO): DAT read: Rx Time:04:02:05.3315 2025-10-27T04:02:06.582Z,1761537726.582 [DAT](INFO): Rx dataTimestamp_ set to:1761537726.581598 2025-10-27T04:02:06.584Z,1761537726.584 [DAT](INFO): DAT read: Bearing 61.1, 42.4 (Local) 2025-10-27T04:02:06.584Z,1761537726.584 [DAT](INFO): Local bearing/azimuth received: Bearing 61.1, 42.4 (Local) 2025-10-27T04:02:06.586Z,1761537726.586 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.2 2025-10-27T04:02:06.591Z,1761537726.591 [DAT](INFO): DAT read: 04:02:05.3315 LVL= 19328, 23105, 30482, 32755, AGC= 51, IDX= 502, 0.10,-1.122,-0.781,-2.644,-0.977, PHS=-0.043, 0.241,-1.711, RAW= 22.3, 16.3, CAL= 20.7, 19.4, ROT= 129.3, -19.4 2025-10-27T04:02:06.592Z,1761537726.592 [DAT](INFO): got valid direction response: 04:02:05.3315 LVL= 19328, 23105, 30482, 32755, AGC= 51, IDX= 502, 0.10,-1.122,-0.781,-2.644,-0.977, PHS=-0.043, 0.241,-1.711, RAW= 22.3, 16.3, CAL= 20.7, 19.4, ROT= 129.3, -19.4 2025-10-27T04:02:06.593Z,1761537726.593 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T04:02:06.594Z,1761537726.594 [DAT](INFO): direction in FSK: [-0.597419,0.729904,0.332161] 2025-10-27T04:02:06.594Z,1761537726.594 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:06.604Z,1761537726.604 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.491226 2025-10-27T04:02:06.779Z,1761537726.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495924,-0.867682,0.034447],[0.864522,-0.497069,-0.074324],[0.081612,-0.007079,0.996639]] 2025-10-27T04:02:06.837Z,1761537726.837 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.722792 2025-10-27T04:02:06.847Z,1761537726.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504938 s, deltaX: 0.299999 m, approachRate: 0.594131 m/s, rangeRepo size: 4 2025-10-27T04:02:06.853Z,1761537726.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.914183 m, bearing: 250.191335 deg, lat: 36.779372 deg, lon: -121.859568 deg, deltaT: 0.504938 s, deltaX: 0.298611 m, approachRate: 0.591381 m/s, posRepo size: 4 2025-10-27T04:02:06.854Z,1761537726.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m. 2025-10-27T04:02:07.085Z,1761537727.085 [DAT](INFO): DAT read: Rx Time:04:02:05.8315 2025-10-27T04:02:07.086Z,1761537727.086 [DAT](INFO): Rx dataTimestamp_ set to:1761537727.085278 2025-10-27T04:02:07.088Z,1761537727.088 [DAT](INFO): DAT read: Bearing 61.7, 43.5 (Local) 2025-10-27T04:02:07.088Z,1761537727.088 [DAT](INFO): Local bearing/azimuth received: Bearing 61.7, 43.5 (Local) 2025-10-27T04:02:07.091Z,1761537727.091 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.1 2025-10-27T04:02:07.100Z,1761537727.100 [DAT](INFO): DAT read: 04:02:05.8315 LVL= 19360, 24113, 32754, 32755, AGC= 51, IDX= 502,-0.12, 2.457, 2.772, 0.897, 2.586, PHS=-0.027, 0.231,-1.733, RAW= 23.1, 16.3, CAL= 21.4, 19.3, ROT= 128.6, -19.3 2025-10-27T04:02:07.102Z,1761537727.102 [DAT](INFO): got valid direction response: 04:02:05.8315 LVL= 19360, 24113, 32754, 32755, AGC= 51, IDX= 502,-0.12, 2.457, 2.772, 0.897, 2.586, PHS=-0.027, 0.231,-1.733, RAW= 23.1, 16.3, CAL= 21.4, 19.3, ROT= 128.6, -19.3 2025-10-27T04:02:07.103Z,1761537727.103 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T04:02:07.105Z,1761537727.105 [DAT](INFO): direction in FSK: [-0.588818,0.737600,0.330514] 2025-10-27T04:02:07.105Z,1761537727.105 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:07.112Z,1761537727.112 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.998478 2025-10-27T04:02:07.262Z,1761537727.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519259,-0.854167,0.027706],[0.852141,-0.519949,-0.059237],[0.065004,-0.007150,0.997859]] 2025-10-27T04:02:07.306Z,1761537727.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503680 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:07.312Z,1761537727.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.914183 m, bearing: 250.798578 deg, lat: 36.779370 deg, lon: -121.859567 deg, deltaT: 0.503680 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:07.313Z,1761537727.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m. 2025-10-27T04:02:07.336Z,1761537727.336 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.223009 2025-10-27T04:02:07.588Z,1761537727.588 [DAT](INFO): DAT read: Rx Time:04:02:06.3317 2025-10-27T04:02:07.589Z,1761537727.589 [DAT](INFO): Rx dataTimestamp_ set to:1761537727.588676 2025-10-27T04:02:07.590Z,1761537727.590 [DAT](INFO): DAT read: Bearing 62.5, 45.0 (Local) 2025-10-27T04:02:07.591Z,1761537727.591 [DAT](INFO): Local bearing/azimuth received: Bearing 62.5, 45.0 (Local) 2025-10-27T04:02:07.593Z,1761537727.593 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-27T04:02:07.644Z,1761537727.644 [DAT](INFO): DAT read: 04:02:06.3317 LVL= 17504, 24545, 32754, 32755, AGC= 50, IDX= 504,-0.50,-2.173,-1.903, 2.531,-2.074, PHS= 0.003, 0.216,-1.723, RAW= 24.2, 16.1, CAL= 22.4, 19.0, ROT= 127.6, -19.0 2025-10-27T04:02:07.645Z,1761537727.645 [DAT](INFO): got valid direction response: 04:02:06.3317 LVL= 17504, 24545, 32754, 32755, AGC= 50, IDX= 504,-0.50,-2.173,-1.903, 2.531,-2.074, PHS= 0.003, 0.216,-1.723, RAW= 24.2, 16.1, CAL= 22.4, 19.0, ROT= 127.6, -19.0 2025-10-27T04:02:07.645Z,1761537727.645 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T04:02:07.646Z,1761537727.646 [DAT](INFO): direction in FSK: [-0.576904,0.749125,0.325568] 2025-10-27T04:02:07.647Z,1761537727.647 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:07.654Z,1761537727.654 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.541323 2025-10-27T04:02:07.756Z,1761537727.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503398 s, deltaX: 0.299999 m, approachRate: 0.595948 m/s, rangeRepo size: 4 2025-10-27T04:02:07.758Z,1761537727.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.212831 m, bearing: 249.799216 deg, lat: 36.779369 deg, lon: -121.859566 deg, deltaT: 0.503398 s, deltaX: 0.298649 m, approachRate: 0.593266 m/s, posRepo size: 4 2025-10-27T04:02:07.758Z,1761537727.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.21 m. 2025-10-27T04:02:07.841Z,1761537727.841 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.727793 2025-10-27T04:02:08.044Z,1761537728.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540561,-0.841072,0.019799],[0.839902,-0.540869,-0.045007],[0.048562,-0.007700,0.998790]] 2025-10-27T04:02:08.075Z,1761537728.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.21 m. 2025-10-27T04:02:08.094Z,1761537728.094 [DAT](INFO): DAT read: Rx Time:04:02:06.8316 2025-10-27T04:02:08.095Z,1761537728.095 [DAT](INFO): Rx dataTimestamp_ set to:1761537728.094910 2025-10-27T04:02:08.098Z,1761537728.098 [DAT](INFO): DAT read: Bearing 62.9, 46.5 (Local) 2025-10-27T04:02:08.098Z,1761537728.098 [DAT](INFO): Local bearing/azimuth received: Bearing 62.9, 46.5 (Local) 2025-10-27T04:02:08.104Z,1761537728.104 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 2025-10-27T04:02:08.123Z,1761537728.123 [DAT](INFO): DAT read: 04:02:06.8316 LVL= 17216, 21665, 31922, 32755, AGC= 50, IDX= 503, 0.10,-1.939,-1.713, 2.732,-1.866, PHS= 0.029, 0.197,-1.729, RAW= 25.5, 16.0, CAL= 23.6, 18.8, ROT= 126.4, -18.8 2025-10-27T04:02:08.125Z,1761537728.125 [DAT](INFO): got valid direction response: 04:02:06.8316 LVL= 17216, 21665, 31922, 32755, AGC= 50, IDX= 503, 0.10,-1.939,-1.713, 2.732,-1.866, PHS= 0.029, 0.197,-1.729, RAW= 25.5, 16.0, CAL= 23.6, 18.8, ROT= 126.4, -18.8 2025-10-27T04:02:08.126Z,1761537728.126 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T04:02:08.131Z,1761537728.131 [DAT](INFO): direction in FSK: [-0.561760,0.761952,0.322266] 2025-10-27T04:02:08.132Z,1761537728.132 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:08.142Z,1761537728.142 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.028978 2025-10-27T04:02:08.344Z,1761537728.344 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.230860 2025-10-27T04:02:08.452Z,1761537728.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550943,-0.834441,0.013029],[0.833555,-0.550984,-0.040032],[0.040583,-0.011195,0.999113]] 2025-10-27T04:02:08.564Z,1761537728.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.506234 s, deltaX: -0.199999 m, approachRate: -0.395072 m/s, rangeRepo size: 4 2025-10-27T04:02:08.566Z,1761537728.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.013693 m, bearing: 250.327663 deg, lat: 36.779368 deg, lon: -121.859565 deg, deltaT: 0.506234 s, deltaX: -0.199139 m, approachRate: -0.393373 m/s, posRepo size: 4 2025-10-27T04:02:08.566Z,1761537728.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.01 m. 2025-10-27T04:02:08.608Z,1761537728.608 [DAT](INFO): DAT read: Rx Time:04:02:07.3318 2025-10-27T04:02:08.608Z,1761537728.608 [DAT](INFO): Rx dataTimestamp_ set to:1761537728.608034 2025-10-27T04:02:08.610Z,1761537728.610 [DAT](INFO): DAT read: Bearing 62.9, 47.2 (Local) 2025-10-27T04:02:08.611Z,1761537728.611 [DAT](INFO): Local bearing/azimuth received: Bearing 62.9, 47.2 (Local) 2025-10-27T04:02:08.615Z,1761537728.615 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 2025-10-27T04:02:08.629Z,1761537728.629 [DAT](INFO): DAT read: 04:02:07.3318 LVL= 17072, 20017, 29474, 32755, AGC= 51, IDX= 505,-0.25,-1.931,-1.727, 2.720,-1.862, PHS= 0.034, 0.181,-1.745, RAW= 26.1, 16.3, CAL= 24.0, 19.0, ROT= 126.0, -19.0 2025-10-27T04:02:08.630Z,1761537728.630 [DAT](INFO): got valid direction response: 04:02:07.3318 LVL= 17072, 20017, 29474, 32755, AGC= 51, IDX= 505,-0.25,-1.931,-1.727, 2.720,-1.862, PHS= 0.034, 0.181,-1.745, RAW= 26.1, 16.3, CAL= 24.0, 19.0, ROT= 126.0, -19.0 2025-10-27T04:02:08.630Z,1761537728.630 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T04:02:08.631Z,1761537728.631 [DAT](INFO): direction in FSK: [-0.555762,0.764941,0.325568] 2025-10-27T04:02:08.632Z,1761537728.632 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:08.648Z,1761537728.648 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.534611 2025-10-27T04:02:08.856Z,1761537728.856 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.742941 2025-10-27T04:02:08.928Z,1761537728.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561380,-0.827534,0.006295],[0.826911,-0.561226,-0.035260],[0.032712,-0.014589,0.999358]] 2025-10-27T04:02:08.968Z,1761537728.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.513124 s, deltaX: 0.299999 m, approachRate: 0.584653 m/s, rangeRepo size: 4 2025-10-27T04:02:08.994Z,1761537728.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.312361 m, bearing: 250.492055 deg, lat: 36.779366 deg, lon: -121.859565 deg, deltaT: 0.513124 s, deltaX: 0.298668 m, approachRate: 0.582058 m/s, posRepo size: 4 2025-10-27T04:02:08.999Z,1761537728.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m. 2025-10-27T04:02:09.109Z,1761537729.109 [DAT](INFO): DAT read: Rx Time:04:02:07.8317 2025-10-27T04:02:09.110Z,1761537729.110 [DAT](INFO): Rx dataTimestamp_ set to:1761537729.109970 2025-10-27T04:02:09.112Z,1761537729.112 [DAT](INFO): DAT read: Bearing 62.7, 48.2 (Local) 2025-10-27T04:02:09.113Z,1761537729.113 [DAT](INFO): Local bearing/azimuth received: Bearing 62.7, 48.2 (Local) 2025-10-27T04:02:09.117Z,1761537729.117 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-27T04:02:09.128Z,1761537729.128 [DAT](INFO): DAT read: 04:02:07.8317 LVL= 17648, 22353, 28130, 32755, AGC= 51, IDX= 504, 0.21,-1.581,-1.412, 3.066,-1.525, PHS= 0.046, 0.159,-1.736, RAW= 27.0, 16.4, CAL= 24.8, 19.1, ROT= 125.2, -19.1 2025-10-27T04:02:09.129Z,1761537729.129 [DAT](INFO): got valid direction response: 04:02:07.8317 LVL= 17648, 22353, 28130, 32755, AGC= 51, IDX= 504, 0.21,-1.581,-1.412, 3.066,-1.525, PHS= 0.046, 0.159,-1.736, RAW= 27.0, 16.4, CAL= 24.8, 19.1, ROT= 125.2, -19.1 2025-10-27T04:02:09.129Z,1761537729.129 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T04:02:09.130Z,1761537729.130 [DAT](INFO): direction in FSK: [-0.544699,0.772160,0.327218] 2025-10-27T04:02:09.130Z,1761537729.130 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:09.150Z,1761537729.150 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.036736 2025-10-27T04:02:09.363Z,1761537729.363 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.250153 2025-10-27T04:02:09.400Z,1761537729.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571468,-0.820624,0.000759],[0.820242,-0.571230,-0.029973],[0.025030,-0.016506,0.999550]] 2025-10-27T04:02:09.461Z,1761537729.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.501936 s, deltaX: -0.100000 m, approachRate: -0.199229 m/s, rangeRepo size: 4 2025-10-27T04:02:09.485Z,1761537729.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.212790 m, bearing: 250.259697 deg, lat: 36.779365 deg, lon: -121.859562 deg, deltaT: 0.501936 s, deltaX: -0.099571 m, approachRate: -0.198374 m/s, posRepo size: 4 2025-10-27T04:02:09.487Z,1761537729.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.21 m. 2025-10-27T04:02:09.615Z,1761537729.615 [DAT](INFO): DAT read: Rx Time:04:02:08.3318 2025-10-27T04:02:09.616Z,1761537729.616 [DAT](INFO): Rx dataTimestamp_ set to:1761537729.615422 2025-10-27T04:02:09.618Z,1761537729.618 [DAT](INFO): DAT read: Bearing 62.6, 48.3 (Local) 2025-10-27T04:02:09.619Z,1761537729.619 [DAT](INFO): Local bearing/azimuth received: Bearing 62.6, 48.3 (Local) 2025-10-27T04:02:09.622Z,1761537729.622 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 2025-10-27T04:02:09.628Z,1761537729.628 [DAT](INFO): DAT read: 04:02:08.3318 LVL= 13840, 19601, 27794, 32755, AGC= 51, IDX= 505,-0.18,-2.813,-2.644, 1.820,-2.749, PHS= 0.038, 0.151,-1.757, RAW= 27.0, 16.6, CAL= 24.8, 19.5, ROT= 125.2, -19.5 2025-10-27T04:02:09.629Z,1761537729.629 [DAT](INFO): got valid direction response: 04:02:08.3318 LVL= 13840, 19601, 27794, 32755, AGC= 51, IDX= 505,-0.18,-2.813,-2.644, 1.820,-2.749, PHS= 0.038, 0.151,-1.757, RAW= 27.0, 16.6, CAL= 24.8, 19.5, ROT= 125.2, -19.5 2025-10-27T04:02:09.629Z,1761537729.629 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T04:02:09.630Z,1761537729.630 [DAT](INFO): direction in FSK: [-0.543369,0.770275,0.333807] 2025-10-27T04:02:09.631Z,1761537729.631 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:09.655Z,1761537729.655 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.542208 2025-10-27T04:02:09.864Z,1761537729.864 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.750942 2025-10-27T04:02:09.870Z,1761537729.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581328,-0.813655,-0.004894],[0.813485,-0.581057,-0.024800],[0.017335,-0.018399,0.999680]] 2025-10-27T04:02:09.913Z,1761537729.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.505452 s, deltaX: 0.100000 m, approachRate: 0.197843 m/s, rangeRepo size: 4 2025-10-27T04:02:09.919Z,1761537729.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.312374 m, bearing: 250.810061 deg, lat: 36.779365 deg, lon: -121.859561 deg, deltaT: 0.505452 s, deltaX: 0.099585 m, approachRate: 0.197021 m/s, posRepo size: 4 2025-10-27T04:02:09.920Z,1761537729.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m. 2025-10-27T04:02:10.118Z,1761537730.118 [DAT](INFO): DAT read: Rx Time:04:02:08.8317 2025-10-27T04:02:10.119Z,1761537730.119 [DAT](INFO): Rx dataTimestamp_ set to:1761537730.118164 2025-10-27T04:02:10.121Z,1761537730.121 [DAT](INFO): DAT read: Bearing 62.7, 48.9 (Local) 2025-10-27T04:02:10.121Z,1761537730.121 [DAT](INFO): Local bearing/azimuth received: Bearing 62.7, 48.9 (Local) 2025-10-27T04:02:10.130Z,1761537730.130 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-27T04:02:10.161Z,1761537730.161 [DAT](INFO): DAT read: 04:02:08.8317 LVL= 16656, 20833, 29618, 31667, AGC= 52, IDX= 504, 0.29,-1.207,-1.053,-2.860,-1.149, PHS= 0.044, 0.142,-1.754, RAW= 27.4, 16.7, CAL= 25.1, 19.5, ROT= 124.9, -19.5 2025-10-27T04:02:10.162Z,1761537730.162 [DAT](INFO): got valid direction response: 04:02:08.8317 LVL= 16656, 20833, 29618, 31667, AGC= 52, IDX= 504, 0.29,-1.207,-1.053,-2.860,-1.149, PHS= 0.044, 0.142,-1.754, RAW= 27.4, 16.7, CAL= 25.1, 19.5, ROT= 124.9, -19.5 2025-10-27T04:02:10.168Z,1761537730.168 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T04:02:10.170Z,1761537730.170 [DAT](INFO): direction in FSK: [-0.539328,0.773109,0.333807] 2025-10-27T04:02:10.170Z,1761537730.170 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:10.200Z,1761537730.200 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.085321 2025-10-27T04:02:10.316Z,1761537730.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591257,-0.806425,-0.009675],[0.806423,-0.591023,-0.019329],[0.009869,-0.019230,0.999766]] 2025-10-27T04:02:10.368Z,1761537730.368 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.255215 2025-10-27T04:02:10.404Z,1761537730.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.502742 s, deltaX: -0.100000 m, approachRate: -0.198910 m/s, rangeRepo size: 4 2025-10-27T04:02:10.406Z,1761537730.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.212805 m, bearing: 251.086032 deg, lat: 36.779364 deg, lon: -121.859559 deg, deltaT: 0.502742 s, deltaX: -0.099569 m, approachRate: -0.198053 m/s, posRepo size: 4 2025-10-27T04:02:10.411Z,1761537730.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.21 m. 2025-10-27T04:02:10.622Z,1761537730.622 [DAT](INFO): DAT read: Rx Time:04:02:09.3319 2025-10-27T04:02:10.622Z,1761537730.622 [DAT](INFO): Rx dataTimestamp_ set to:1761537730.622037 2025-10-27T04:02:10.624Z,1761537730.624 [DAT](INFO): DAT read: Bearing 63.2, 49.0 (Local) 2025-10-27T04:02:10.624Z,1761537730.624 [DAT](INFO): Local bearing/azimuth received: Bearing 63.2, 49.0 (Local) 2025-10-27T04:02:10.626Z,1761537730.626 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2 2025-10-27T04:02:10.631Z,1761537730.631 [DAT](INFO): DAT read: 04:02:09.3319 LVL= 14688, 18673, 26514, 31635, AGC= 51, IDX= 506, 0.03,-0.610,-0.442,-2.256,-0.540, PHS= 0.032, 0.144,-1.759, RAW= 27.0, 16.8, CAL= 24.8, 19.7, ROT= 125.2, -19.7 2025-10-27T04:02:10.632Z,1761537730.632 [DAT](INFO): got valid direction response: 04:02:09.3319 LVL= 14688, 18673, 26514, 31635, AGC= 51, IDX= 506, 0.03,-0.610,-0.442,-2.256,-0.540, PHS= 0.032, 0.144,-1.759, RAW= 27.0, 16.8, CAL= 24.8, 19.7, ROT= 125.2, -19.7 2025-10-27T04:02:10.632Z,1761537730.632 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T04:02:10.633Z,1761537730.633 [DAT](INFO): direction in FSK: [-0.542694,0.769318,0.337095] 2025-10-27T04:02:10.634Z,1761537730.634 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:10.642Z,1761537730.642 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.529200 2025-10-27T04:02:10.800Z,1761537730.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601219,-0.798962,-0.013978],[0.799080,-0.601064,-0.013921],[0.002721,-0.019539,0.999805]] 2025-10-27T04:02:10.859Z,1761537730.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503873 s, deltaX: 0.300001 m, approachRate: 0.595390 m/s, rangeRepo size: 4 2025-10-27T04:02:10.861Z,1761537730.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.511562 m, bearing: 251.976071 deg, lat: 36.779364 deg, lon: -121.859558 deg, deltaT: 0.503873 s, deltaX: 0.298758 m, approachRate: 0.592922 m/s, posRepo size: 4 2025-10-27T04:02:10.861Z,1761537730.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m. 2025-10-27T04:02:10.872Z,1761537730.872 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.758986 2025-10-27T04:02:11.125Z,1761537731.125 [DAT](INFO): DAT read: Rx Time:04:02:09.8319 2025-10-27T04:02:11.125Z,1761537731.125 [DAT](INFO): Rx dataTimestamp_ set to:1761537731.124825 2025-10-27T04:02:11.126Z,1761537731.126 [DAT](INFO): DAT read: Bearing 63.3, 48.4 (Local) 2025-10-27T04:02:11.127Z,1761537731.127 [DAT](INFO): Local bearing/azimuth received: Bearing 63.3, 48.4 (Local) 2025-10-27T04:02:11.129Z,1761537731.129 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2 2025-10-27T04:02:11.140Z,1761537731.140 [DAT](INFO): DAT read: 04:02:09.8319 LVL= 13264, 17393, 26866, 29939, AGC= 50, IDX= 506,-0.10, 2.898, 3.099, 1.278, 3.001, PHS=-0.000, 0.143,-1.766, RAW= 26.1, 17.3, CAL= 24.0, 20.4, ROT= 126.0, -20.4 2025-10-27T04:02:11.141Z,1761537731.141 [DAT](INFO): got valid direction response: 04:02:09.8319 LVL= 13264, 17393, 26866, 29939, AGC= 50, IDX= 506,-0.10, 2.898, 3.099, 1.278, 3.001, PHS=-0.000, 0.143,-1.766, RAW= 26.1, 17.3, CAL= 24.0, 20.4, ROT= 126.0, -20.4 2025-10-27T04:02:11.142Z,1761537731.142 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T04:02:11.142Z,1761537731.142 [DAT](INFO): direction in FSK: [-0.550920,0.758277,0.348572] 2025-10-27T04:02:11.143Z,1761537731.143 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:11.146Z,1761537731.146 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.033276 2025-10-27T04:02:11.311Z,1761537731.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620769,-0.783682,-0.022081],[0.783914,-0.620862,-0.003217],[-0.011188,-0.019307,0.999751]] 2025-10-27T04:02:11.364Z,1761537731.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.502788 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:11.366Z,1761537731.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.511562 m, bearing: 253.953392 deg, lat: 36.779364 deg, lon: -121.859557 deg, deltaT: 0.502788 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:11.366Z,1761537731.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m. 2025-10-27T04:02:11.376Z,1761537731.376 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.262941 2025-10-27T04:02:11.629Z,1761537731.629 [DAT](INFO): DAT read: Rx Time:04:02:10.3321 2025-10-27T04:02:11.629Z,1761537731.629 [DAT](INFO): Rx dataTimestamp_ set to:1761537731.628718 2025-10-27T04:02:11.630Z,1761537731.630 [DAT](INFO): DAT read: Bearing 63.7, 48.2 (Local) 2025-10-27T04:02:11.631Z,1761537731.631 [DAT](INFO): Local bearing/azimuth received: Bearing 63.7, 48.2 (Local) 2025-10-27T04:02:11.633Z,1761537731.633 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.2 2025-10-27T04:02:11.643Z,1761537731.643 [DAT](INFO): DAT read: 04:02:10.3321 LVL= 13376, 18033, 26418, 28963, AGC= 52, IDX= 508,-0.16,-2.914,-2.691, 1.780,-2.789, PHS=-0.023, 0.143,-1.759, RAW= 25.5, 17.6, CAL= 23.4, 20.8, ROT= 126.6, -20.8 2025-10-27T04:02:11.644Z,1761537731.644 [DAT](INFO): got valid direction response: 04:02:10.3321 LVL= 13376, 18033, 26418, 28963, AGC= 52, IDX= 508,-0.16,-2.914,-2.691, 1.780,-2.789, PHS=-0.023, 0.143,-1.759, RAW= 25.5, 17.6, CAL= 23.4, 20.8, ROT= 126.6, -20.8 2025-10-27T04:02:11.644Z,1761537731.644 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T04:02:11.645Z,1761537731.645 [DAT](INFO): direction in FSK: [-0.557366,0.750494,0.355107] 2025-10-27T04:02:11.646Z,1761537731.646 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:11.674Z,1761537731.674 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.560873 2025-10-27T04:02:11.761Z,1761537731.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630493,-0.775759,-0.025997],[0.775991,-0.630741,0.001771],[-0.017772,-0.019057,0.999660]] 2025-10-27T04:02:11.808Z,1761537731.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503893 s, deltaX: 0.299999 m, approachRate: 0.595363 m/s, rangeRepo size: 4 2025-10-27T04:02:11.810Z,1761537731.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.810282 m, bearing: 255.150213 deg, lat: 36.779365 deg, lon: -121.859557 deg, deltaT: 0.503893 s, deltaX: 0.298719 m, approachRate: 0.592823 m/s, posRepo size: 4 2025-10-27T04:02:11.810Z,1761537731.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m. 2025-10-27T04:02:11.880Z,1761537731.880 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.767101 2025-10-27T04:02:12.132Z,1761537732.132 [DAT](INFO): DAT read: Rx Time:04:02:10.8321 2025-10-27T04:02:12.133Z,1761537732.133 [DAT](INFO): Rx dataTimestamp_ set to:1761537732.132685 2025-10-27T04:02:12.134Z,1761537732.134 [DAT](INFO): DAT read: Bearing 64.0, 47.9 (Local) 2025-10-27T04:02:12.135Z,1761537732.135 [DAT](INFO): Local bearing/azimuth received: Bearing 64.0, 47.9 (Local) 2025-10-27T04:02:12.137Z,1761537732.137 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.3 2025-10-27T04:02:12.141Z,1761537732.141 [DAT](INFO): DAT read: 04:02:10.8321 LVL= 12896, 17137, 24930, 27923, AGC= 50, IDX= 508,-0.10, 0.822, 1.073,-0.740, 0.974, PHS=-0.050, 0.143,-1.759, RAW= 24.7, 18.0, CAL= 22.7, 21.3, ROT= 127.3, -21.3 2025-10-27T04:02:12.142Z,1761537732.142 [DAT](INFO): got valid direction response: 04:02:10.8321 LVL= 12896, 17137, 24930, 27923, AGC= 50, IDX= 508,-0.10, 0.822, 1.073,-0.740, 0.974, PHS=-0.050, 0.143,-1.759, RAW= 24.7, 18.0, CAL= 22.7, 21.3, ROT= 127.3, -21.3 2025-10-27T04:02:12.144Z,1761537732.144 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T04:02:12.148Z,1761537732.148 [DAT](INFO): direction in FSK: [-0.564594,0.741136,0.363251] 2025-10-27T04:02:12.150Z,1761537732.150 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:12.154Z,1761537732.154 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.041269 2025-10-27T04:02:12.282Z,1761537732.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640123,-0.767689,-0.029930],[0.767889,-0.640549,0.006644],[-0.024273,-0.018730,0.999530]] 2025-10-27T04:02:12.384Z,1761537732.384 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.271280 2025-10-27T04:02:12.389Z,1761537732.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:12.396Z,1761537732.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.810282 m, bearing: 256.443506 deg, lat: 36.779370 deg, lon: -121.859555 deg, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:12.396Z,1761537732.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m. 2025-10-27T04:02:12.637Z,1761537732.637 [DAT](INFO): DAT read: Rx Time:04:02:11.3323 2025-10-27T04:02:12.638Z,1761537732.638 [DAT](INFO): Rx dataTimestamp_ set to:1761537732.637604 2025-10-27T04:02:12.640Z,1761537732.640 [DAT](INFO): DAT read: Bearing 64.8, 47.6 (Local) 2025-10-27T04:02:12.640Z,1761537732.640 [DAT](INFO): Local bearing/azimuth received: Bearing 64.8, 47.6 (Local) 2025-10-27T04:02:12.643Z,1761537732.643 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.3 2025-10-27T04:02:12.648Z,1761537732.648 [DAT](INFO): DAT read: 04:02:11.3323 LVL= 12976, 17569, 25554, 28499, AGC= 47, IDX= 510, 0.03, 1.505, 1.786,-0.016, 1.676, PHS=-0.069, 0.155,-1.737, RAW= 23.8, 18.1, CAL= 21.9, 21.4, ROT= 128.1, -21.4 2025-10-27T04:02:12.649Z,1761537732.649 [DAT](INFO): got valid direction response: 04:02:11.3323 LVL= 12976, 17569, 25554, 28499, AGC= 47, IDX= 510, 0.03, 1.505, 1.786,-0.016, 1.676, PHS=-0.069, 0.155,-1.737, RAW= 23.8, 18.1, CAL= 21.9, 21.4, ROT= 128.1, -21.4 2025-10-27T04:02:12.649Z,1761537732.649 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T04:02:12.650Z,1761537732.650 [DAT](INFO): direction in FSK: [-0.574495,0.732680,0.364877] 2025-10-27T04:02:12.650Z,1761537732.650 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:12.654Z,1761537732.654 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.540899 2025-10-27T04:02:12.788Z,1761537732.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649748,-0.759373,-0.034338],[0.759538,-0.650375,0.010742],[-0.030490,-0.019102,0.999353]] 2025-10-27T04:02:12.848Z,1761537732.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504919 s, deltaX: 0.300001 m, approachRate: 0.594157 m/s, rangeRepo size: 4 2025-10-27T04:02:12.850Z,1761537732.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.108986 m, bearing: 257.853695 deg, lat: 36.779373 deg, lon: -121.859556 deg, deltaT: 0.504919 s, deltaX: 0.298704 m, approachRate: 0.591588 m/s, posRepo size: 4 2025-10-27T04:02:12.850Z,1761537732.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m. 2025-10-27T04:02:12.888Z,1761537732.888 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.775269 2025-10-27T04:02:13.141Z,1761537733.141 [DAT](INFO): DAT read: Rx Time:04:02:11.8323 2025-10-27T04:02:13.141Z,1761537733.141 [DAT](INFO): Rx dataTimestamp_ set to:1761537733.140947 2025-10-27T04:02:13.142Z,1761537733.142 [DAT](INFO): DAT read: Bearing 65.2, 47.4 (Local) 2025-10-27T04:02:13.143Z,1761537733.143 [DAT](INFO): Local bearing/azimuth received: Bearing 65.2, 47.4 (Local) 2025-10-27T04:02:13.145Z,1761537733.145 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.3 2025-10-27T04:02:13.150Z,1761537733.150 [DAT](INFO): DAT read: 04:02:11.8323 LVL= 12784, 17553, 25762, 28051, AGC= 47, IDX= 510, 0.13, 0.131, 0.433,-1.368, 0.320, PHS=-0.087, 0.158,-1.732, RAW= 23.2, 18.3, CAL= 21.4, 21.7, ROT= 128.6, -21.7 2025-10-27T04:02:13.151Z,1761537733.151 [DAT](INFO): got valid direction response: 04:02:11.8323 LVL= 12784, 17553, 25762, 28051, AGC= 47, IDX= 510, 0.13, 0.131, 0.433,-1.368, 0.320, PHS=-0.087, 0.158,-1.732, RAW= 23.2, 18.3, CAL= 21.4, 21.7, ROT= 128.6, -21.7 2025-10-27T04:02:13.151Z,1761537733.151 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T04:02:13.152Z,1761537733.152 [DAT](INFO): direction in FSK: [-0.579667,0.726136,0.369747] 2025-10-27T04:02:13.153Z,1761537733.153 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:13.165Z,1761537733.165 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.051546 2025-10-27T04:02:13.250Z,1761537733.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659054,-0.751069,-0.039287],[0.751209,-0.659914,0.014073],[-0.036496,-0.020238,0.999129]] 2025-10-27T04:02:13.353Z,1761537733.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503343 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:13.363Z,1761537733.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.108986 m, bearing: 258.933481 deg, lat: 36.779375 deg, lon: -121.859555 deg, deltaT: 0.503343 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:13.364Z,1761537733.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m. 2025-10-27T04:02:13.393Z,1761537733.393 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.280155 2025-10-27T04:02:13.646Z,1761537733.646 [DAT](INFO): DAT read: Rx Time:04:02:12.3324 2025-10-27T04:02:13.646Z,1761537733.646 [DAT](INFO): Rx dataTimestamp_ set to:1761537733.645835 2025-10-27T04:02:13.648Z,1761537733.648 [DAT](INFO): DAT read: Bearing 65.3, 47.3 (Local) 2025-10-27T04:02:13.648Z,1761537733.648 [DAT](INFO): Local bearing/azimuth received: Bearing 65.3, 47.3 (Local) 2025-10-27T04:02:13.650Z,1761537733.650 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.3 2025-10-27T04:02:13.655Z,1761537733.655 [DAT](INFO): DAT read: 04:02:12.3324 LVL= 13360, 16865, 25202, 28979, AGC= 48, IDX= 511, 0.26, 0.810, 1.127,-0.687, 1.016, PHS=-0.104, 0.156,-1.747, RAW= 22.8, 18.5, CAL= 21.0, 22.0, ROT= 129.0, -22.0 2025-10-27T04:02:13.656Z,1761537733.656 [DAT](INFO): got valid direction response: 04:02:12.3324 LVL= 13360, 16865, 25202, 28979, AGC= 48, IDX= 511, 0.26, 0.810, 1.127,-0.687, 1.016, PHS=-0.104, 0.156,-1.747, RAW= 22.8, 18.5, CAL= 21.0, 22.0, ROT= 129.0, -22.0 2025-10-27T04:02:13.656Z,1761537733.656 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T04:02:13.657Z,1761537733.657 [DAT](INFO): direction in FSK: [-0.583496,0.720557,0.374607] 2025-10-27T04:02:13.658Z,1761537733.658 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:13.661Z,1761537733.661 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.548319 2025-10-27T04:02:13.784Z,1761537733.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677440,-0.734024,-0.047795],[0.734018,-0.678804,0.021026],[-0.047877,-0.020839,0.998636]] 2025-10-27T04:02:13.871Z,1761537733.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504888 s, deltaX: 0.099998 m, approachRate: 0.198061 m/s, rangeRepo size: 4 2025-10-27T04:02:13.873Z,1761537733.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.208517 m, bearing: 260.541499 deg, lat: 36.779378 deg, lon: -121.859554 deg, deltaT: 0.504888 s, deltaX: 0.099531 m, approachRate: 0.197135 m/s, posRepo size: 4 2025-10-27T04:02:13.874Z,1761537733.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.21 m. 2025-10-27T04:02:13.896Z,1761537733.896 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.782986 2025-10-27T04:02:14.149Z,1761537734.149 [DAT](INFO): DAT read: Rx Time:04:02:12.8325 2025-10-27T04:02:14.149Z,1761537734.149 [DAT](INFO): Rx dataTimestamp_ set to:1761537734.148766 2025-10-27T04:02:14.150Z,1761537734.150 [DAT](INFO): DAT read: Bearing 62.8, 45.5 (Local) 2025-10-27T04:02:14.151Z,1761537734.151 [DAT](INFO): Local bearing/azimuth received: Bearing 62.8, 45.5 (Local) 2025-10-27T04:02:14.153Z,1761537734.153 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.3 2025-10-27T04:02:14.157Z,1761537734.157 [DAT](INFO): DAT read: 04:02:12.8325 LVL= 12816, 16001, 24802, 27459, AGC= 48, IDX= 512,-0.45, 2.054, 2.451, 0.339, 2.388, PHS=-0.233, 0.107,-2.093, RAW= 21.8, 20.9, CAL= 20.1, 24.9, ROT= 129.9, -24.9 2025-10-27T04:02:14.158Z,1761537734.158 [DAT](INFO): got valid direction response: 04:02:12.8325 LVL= 12816, 16001, 24802, 27459, AGC= 48, IDX= 512,-0.45, 2.054, 2.451, 0.339, 2.388, PHS=-0.233, 0.107,-2.093, RAW= 21.8, 20.9, CAL= 20.1, 24.9, ROT= 129.9, -24.9 2025-10-27T04:02:14.159Z,1761537734.159 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T04:02:14.160Z,1761537734.160 [DAT](INFO): direction in FSK: [-0.581823,0.695853,0.421036] 2025-10-27T04:02:14.160Z,1761537734.160 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:14.164Z,1761537734.164 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.050896 2025-10-27T04:02:14.309Z,1761537734.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685951,-0.725800,-0.051823],[0.725690,-0.687589,0.024400],[-0.053343,-0.020870,0.998358]] 2025-10-27T04:02:14.400Z,1761537734.400 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.287010 2025-10-27T04:02:14.429Z,1761537734.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.502931 s, deltaX: 0.200001 m, approachRate: 0.397670 m/s, rangeRepo size: 4 2025-10-27T04:02:14.435Z,1761537734.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.407660 m, bearing: 261.834242 deg, lat: 36.779380 deg, lon: -121.859553 deg, deltaT: 0.502931 s, deltaX: 0.199142 m, approachRate: 0.395964 m/s, posRepo size: 4 2025-10-27T04:02:14.436Z,1761537734.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m. 2025-10-27T04:02:14.654Z,1761537734.654 [DAT](INFO): DAT read: Rx Time:04:02:13.3327 2025-10-27T04:02:14.654Z,1761537734.654 [DAT](INFO): Rx dataTimestamp_ set to:1761537734.654041 2025-10-27T04:02:14.656Z,1761537734.656 [DAT](INFO): DAT read: Bearing 66.1, 46.7 (Local) 2025-10-27T04:02:14.656Z,1761537734.656 [DAT](INFO): Local bearing/azimuth received: Bearing 66.1, 46.7 (Local) 2025-10-27T04:02:14.658Z,1761537734.658 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.3 2025-10-27T04:02:14.664Z,1761537734.664 [DAT](INFO): DAT read: 04:02:13.3327 LVL= 10640, 12529, 21458, 20883, AGC= 50, IDX= 2,-0.20,-0.844,-0.480,-2.279,-0.594, PHS=-0.148, 0.159,-1.729, RAW= 21.3, 19.1, CAL= 19.7, 22.8, ROT= 130.3, -22.8 2025-10-27T04:02:14.666Z,1761537734.666 [DAT](INFO): got valid direction response: 04:02:13.3327 LVL= 10640, 12529, 21458, 20883, AGC= 50, IDX= 2,-0.20,-0.844,-0.480,-2.279,-0.594, PHS=-0.148, 0.159,-1.729, RAW= 21.3, 19.1, CAL= 19.7, 22.8, ROT= 130.3, -22.8 2025-10-27T04:02:14.666Z,1761537734.666 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T04:02:14.674Z,1761537734.674 [DAT](INFO): direction in FSK: [-0.596252,0.703076,0.387516] 2025-10-27T04:02:14.674Z,1761537734.674 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:14.680Z,1761537734.680 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.566525 2025-10-27T04:02:14.881Z,1761537734.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701135,-0.710422,-0.060921],[0.710139,-0.703424,0.029960],[-0.064137,-0.022256,0.997693]] 2025-10-27T04:02:14.904Z,1761537734.904 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.790970 2025-10-27T04:02:14.925Z,1761537734.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.505275 s, deltaX: 0.299999 m, approachRate: 0.593735 m/s, rangeRepo size: 4 2025-10-27T04:02:14.935Z,1761537734.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.706375 m, bearing: 263.389732 deg, lat: 36.779384 deg, lon: -121.859552 deg, deltaT: 0.505275 s, deltaX: 0.298716 m, approachRate: 0.591194 m/s, posRepo size: 4 2025-10-27T04:02:14.936Z,1761537734.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m. 2025-10-27T04:02:15.158Z,1761537735.158 [DAT](INFO): DAT read: Rx Time:04:02:13.8327 2025-10-27T04:02:15.158Z,1761537735.158 [DAT](INFO): Rx dataTimestamp_ set to:1761537735.157999 2025-10-27T04:02:15.160Z,1761537735.160 [DAT](INFO): DAT read: Bearing 66.7, 46.8 (Local) 2025-10-27T04:02:15.160Z,1761537735.160 [DAT](INFO): Local bearing/azimuth received: Bearing 66.7, 46.8 (Local) 2025-10-27T04:02:15.162Z,1761537735.162 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.3 2025-10-27T04:02:15.167Z,1761537735.167 [DAT](INFO): DAT read: 04:02:13.8327 LVL= 13024, 16577, 23890, 27411, AGC= 47, IDX= 498,-0.02,-1.885,-1.510, 2.983,-1.630, PHS=-0.153, 0.164,-1.715, RAW= 20.9, 19.1, CAL= 19.4, 22.8, ROT= 130.6, -22.8 2025-10-27T04:02:15.169Z,1761537735.169 [DAT](INFO): got valid direction response: 04:02:13.8327 LVL= 13024, 16577, 23890, 27411, AGC= 47, IDX= 498,-0.02,-1.885,-1.510, 2.983,-1.630, PHS=-0.153, 0.164,-1.715, RAW= 20.9, 19.1, CAL= 19.4, 22.8, ROT= 130.6, -22.8 2025-10-27T04:02:15.169Z,1761537735.169 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T04:02:15.170Z,1761537735.170 [DAT](INFO): direction in FSK: [-0.599925,0.699944,0.387516] 2025-10-27T04:02:15.171Z,1761537735.171 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:15.194Z,1761537735.194 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.080845 2025-10-27T04:02:15.385Z,1761537735.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707963,-0.703214,-0.065407],[0.702838,-0.710607,0.032494],[-0.069330,-0.022966,0.997329]] 2025-10-27T04:02:15.408Z,1761537735.408 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.294998 2025-10-27T04:02:15.524Z,1761537735.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503958 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:15.526Z,1761537735.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.706375 m, bearing: 264.152503 deg, lat: 36.779387 deg, lon: -121.859552 deg, deltaT: 0.503958 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:15.526Z,1761537735.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m. 2025-10-27T04:02:15.661Z,1761537735.661 [DAT](INFO): DAT read: Rx Time:04:02:14.3329 2025-10-27T04:02:15.661Z,1761537735.661 [DAT](INFO): Rx dataTimestamp_ set to:1761537735.660833 2025-10-27T04:02:15.662Z,1761537735.662 [DAT](INFO): DAT read: Bearing 67.3, 46.7 (Local) 2025-10-27T04:02:15.663Z,1761537735.663 [DAT](INFO): Local bearing/azimuth received: Bearing 67.3, 46.7 (Local) 2025-10-27T04:02:15.665Z,1761537735.665 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.3 2025-10-27T04:02:15.669Z,1761537735.670 [DAT](INFO): DAT read: 04:02:14.3329 LVL= 13584, 16161, 23650, 28483, AGC= 46, IDX= 500, 0.13,-0.302, 0.086,-1.695,-0.039, PHS=-0.161, 0.170,-1.700, RAW= 20.4, 19.1, CAL= 19.0, 22.8, ROT= 131.0, -22.8 2025-10-27T04:02:15.671Z,1761537735.671 [DAT](INFO): got valid direction response: 04:02:14.3329 LVL= 13584, 16161, 23650, 28483, AGC= 46, IDX= 500, 0.13,-0.302, 0.086,-1.695,-0.039, PHS=-0.161, 0.170,-1.700, RAW= 20.4, 19.1, CAL= 19.0, 22.8, ROT= 131.0, -22.8 2025-10-27T04:02:15.677Z,1761537735.677 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T04:02:15.707Z,1761537735.707 [DAT](INFO): direction in FSK: [-0.604797,0.695739,0.387516] 2025-10-27T04:02:15.716Z,1761537735.716 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:15.742Z,1761537735.742 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.628593 2025-10-27T04:02:15.912Z,1761537735.912 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.798885 2025-10-27T04:02:15.923Z,1761537735.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714286,-0.696389,-0.069554],[0.695860,-0.717296,0.035564],[-0.074658,-0.022997,0.996944]] 2025-10-27T04:02:16.016Z,1761537736.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.502834 s, deltaX: 0.300001 m, approachRate: 0.596621 m/s, rangeRepo size: 4 2025-10-27T04:02:16.018Z,1761537736.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.005095 m, bearing: 264.988394 deg, lat: 36.779390 deg, lon: -121.859551 deg, deltaT: 0.502834 s, deltaX: 0.298719 m, approachRate: 0.594072 m/s, posRepo size: 4 2025-10-27T04:02:16.019Z,1761537736.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.01 m. 2025-10-27T04:02:16.165Z,1761537736.165 [DAT](INFO): DAT read: Rx Time:04:02:14.8329 2025-10-27T04:02:16.165Z,1761537736.165 [DAT](INFO): Rx dataTimestamp_ set to:1761537736.164947 2025-10-27T04:02:16.167Z,1761537736.167 [DAT](INFO): DAT read: Bearing 67.6, 46.8 (Local) 2025-10-27T04:02:16.167Z,1761537736.167 [DAT](INFO): Local bearing/azimuth received: Bearing 67.6, 46.8 (Local) 2025-10-27T04:02:16.169Z,1761537736.169 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.3 2025-10-27T04:02:16.177Z,1761537736.177 [DAT](INFO): DAT read: 04:02:14.8329 LVL= 13584, 16817, 24562, 27075, AGC= 46, IDX= 500, 0.24,-0.749,-0.355,-2.133,-0.478, PHS=-0.169, 0.168,-1.699, RAW= 20.3, 19.2, CAL= 18.8, 23.0, ROT= 131.2, -23.0 2025-10-27T04:02:16.178Z,1761537736.178 [DAT](INFO): got valid direction response: 04:02:14.8329 LVL= 13584, 16817, 24562, 27075, AGC= 46, IDX= 500, 0.24,-0.749,-0.355,-2.133,-0.478, PHS=-0.169, 0.168,-1.699, RAW= 20.3, 19.2, CAL= 18.8, 23.0, ROT= 131.2, -23.0 2025-10-27T04:02:16.200Z,1761537736.200 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T04:02:16.201Z,1761537736.201 [DAT](INFO): direction in FSK: [-0.606327,0.692602,0.390731] 2025-10-27T04:02:16.201Z,1761537736.201 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:16.209Z,1761537736.209 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.096249 2025-10-27T04:02:16.416Z,1761537736.416 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.303036 2025-10-27T04:02:16.418Z,1761537736.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720438,-0.689620,-0.073442],[0.688913,-0.723814,0.038634],[-0.079802,-0.022762,0.996551]] 2025-10-27T04:02:16.542Z,1761537736.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:16.544Z,1761537736.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.005095 m, bearing: 265.602916 deg, lat: 36.779392 deg, lon: -121.859550 deg, deltaT: 0.504114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:16.545Z,1761537736.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.01 m. 2025-10-27T04:02:16.668Z,1761537736.668 [DAT](INFO): DAT read: Rx Time:04:02:15.3331 2025-10-27T04:02:16.669Z,1761537736.669 [DAT](INFO): Rx dataTimestamp_ set to:1761537736.668683 2025-10-27T04:02:16.671Z,1761537736.671 [DAT](INFO): DAT read: Bearing 67.9, 46.8 (Local) 2025-10-27T04:02:16.671Z,1761537736.671 [DAT](INFO): Local bearing/azimuth received: Bearing 67.9, 46.8 (Local) 2025-10-27T04:02:16.674Z,1761537736.674 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.3 2025-10-27T04:02:16.688Z,1761537736.688 [DAT](INFO): DAT read: 04:02:15.3331 LVL= 13040, 14609, 23906, 27283, AGC= 46, IDX= 502, 0.26, 0.396, 0.800,-0.973, 0.678, PHS=-0.180, 0.166,-1.696, RAW= 19.9, 19.4, CAL= 18.5, 23.2, ROT= 131.5, -23.2 2025-10-27T04:02:16.690Z,1761537736.690 [DAT](INFO): got valid direction response: 04:02:15.3331 LVL= 13040, 14609, 23906, 27283, AGC= 46, IDX= 502, 0.26, 0.396, 0.800,-0.973, 0.678, PHS=-0.180, 0.166,-1.696, RAW= 19.9, 19.4, CAL= 18.5, 23.2, ROT= 131.5, -23.2 2025-10-27T04:02:16.690Z,1761537736.690 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T04:02:16.692Z,1761537736.692 [DAT](INFO): direction in FSK: [-0.609038,0.688392,0.393942] 2025-10-27T04:02:16.693Z,1761537736.693 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:16.710Z,1761537736.710 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.596954 2025-10-27T04:02:16.920Z,1761537736.920 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.806877 2025-10-27T04:02:17.015Z,1761537737.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503736 s, deltaX: 0.299999 m, approachRate: 0.595549 m/s, rangeRepo size: 4 2025-10-27T04:02:17.017Z,1761537737.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.303888 m, bearing: 265.888264 deg, lat: 36.779393 deg, lon: -121.859551 deg, deltaT: 0.503736 s, deltaX: 0.298794 m, approachRate: 0.593156 m/s, posRepo size: 4 2025-10-27T04:02:17.018Z,1761537737.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m. 2025-10-27T04:02:17.173Z,1761537737.173 [DAT](INFO): DAT read: Rx Time:04:02:15.8331 2025-10-27T04:02:17.174Z,1761537737.174 [DAT](INFO): Rx dataTimestamp_ set to:1761537737.173485 2025-10-27T04:02:17.176Z,1761537737.176 [DAT](INFO): DAT read: Bearing 68.3, 46.9 (Local) 2025-10-27T04:02:17.176Z,1761537737.176 [DAT](INFO): Local bearing/azimuth received: Bearing 68.3, 46.9 (Local) 2025-10-27T04:02:17.179Z,1761537737.179 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.2 2025-10-27T04:02:17.184Z,1761537737.184 [DAT](INFO): DAT read: 04:02:15.8331 LVL= 13456, 15793, 25522, 28275, AGC= 47, IDX= 502, 0.16, 0.128, 0.535,-1.233, 0.413, PHS=-0.183, 0.166,-1.690, RAW= 19.8, 19.4, CAL= 18.4, 23.3, ROT= 131.6, -23.3 2025-10-27T04:02:17.185Z,1761537737.185 [DAT](INFO): got valid direction response: 04:02:15.8331 LVL= 13456, 15793, 25522, 28275, AGC= 47, IDX= 502, 0.16, 0.128, 0.535,-1.233, 0.413, PHS=-0.183, 0.166,-1.690, RAW= 19.8, 19.4, CAL= 18.4, 23.3, ROT= 131.6, -23.3 2025-10-27T04:02:17.185Z,1761537737.185 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T04:02:17.186Z,1761537737.186 [DAT](INFO): direction in FSK: [-0.609781,0.686812,0.395545] 2025-10-27T04:02:17.186Z,1761537737.186 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:17.280Z,1761537737.280 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.153759 2025-10-27T04:02:17.405Z,1761537737.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736145,-0.671333,-0.086039],[0.670132,-0.740785,0.046483],[-0.094942,-0.023439,0.995207]] 2025-10-27T04:02:17.424Z,1761537737.424 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.310947 2025-10-27T04:02:17.544Z,1761537737.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:17.546Z,1761537737.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.303888 m, bearing: 267.056607 deg, lat: 36.779394 deg, lon: -121.859550 deg, deltaT: 0.504802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:17.546Z,1761537737.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.30 m. 2025-10-27T04:02:17.676Z,1761537737.676 [DAT](INFO): DAT read: Rx Time:04:02:16.3332 2025-10-27T04:02:17.677Z,1761537737.677 [DAT](INFO): Rx dataTimestamp_ set to:1761537737.676660 2025-10-27T04:02:17.678Z,1761537737.678 [DAT](INFO): DAT read: Bearing 68.1, 46.7 (Local) 2025-10-27T04:02:17.679Z,1761537737.679 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 46.7 (Local) 2025-10-27T04:02:17.686Z,1761537737.686 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 2025-10-27T04:02:17.692Z,1761537737.692 [DAT](INFO): DAT read: 04:02:16.3332 LVL= 12880, 13937, 23202, 26995, AGC= 47, IDX= 503,-0.06,-0.603,-0.197,-1.944,-0.303, PHS=-0.198, 0.151,-1.685, RAW= 19.7, 19.9, CAL= 18.3, 23.8, ROT= 131.7, -23.8 2025-10-27T04:02:17.694Z,1761537737.694 [DAT](INFO): got valid direction response: 04:02:16.3332 LVL= 12880, 13937, 23202, 26995, AGC= 47, IDX= 503,-0.06,-0.603,-0.197,-1.944,-0.303, PHS=-0.198, 0.151,-1.685, RAW= 19.7, 19.9, CAL= 18.3, 23.8, ROT= 131.7, -23.8 2025-10-27T04:02:17.694Z,1761537737.694 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T04:02:17.696Z,1761537737.696 [DAT](INFO): direction in FSK: [-0.608659,0.683144,0.403545] 2025-10-27T04:02:17.696Z,1761537737.696 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:17.701Z,1761537737.701 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.588310 2025-10-27T04:02:17.928Z,1761537737.928 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.814983 2025-10-27T04:02:18.036Z,1761537738.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503175 s, deltaX: 0.100000 m, approachRate: 0.198739 m/s, rangeRepo size: 4 2025-10-27T04:02:18.038Z,1761537738.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.403452 m, bearing: 267.104566 deg, lat: 36.779395 deg, lon: -121.859549 deg, deltaT: 0.503175 s, deltaX: 0.099564 m, approachRate: 0.197871 m/s, posRepo size: 4 2025-10-27T04:02:18.038Z,1761537738.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m. 2025-10-27T04:02:18.181Z,1761537738.181 [DAT](INFO): DAT read: Rx Time:04:02:16.8332 2025-10-27T04:02:18.181Z,1761537738.181 [DAT](INFO): Rx dataTimestamp_ set to:1761537738.180803 2025-10-27T04:02:18.182Z,1761537738.182 [DAT](INFO): DAT read: Bearing 68.6, 47.4 (Local) 2025-10-27T04:02:18.183Z,1761537738.183 [DAT](INFO): Local bearing/azimuth received: Bearing 68.6, 47.4 (Local) 2025-10-27T04:02:18.185Z,1761537738.185 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 2025-10-27T04:02:18.189Z,1761537738.189 [DAT](INFO): DAT read: 04:02:16.8332 LVL= 14256, 14545, 22002, 27443, AGC= 49, IDX= 502, 0.45, 0.692, 1.086,-0.658, 0.976, PHS=-0.183, 0.154,-1.678, RAW= 20.1, 19.7, CAL= 18.6, 23.5, ROT= 131.4, -23.5 2025-10-27T04:02:18.191Z,1761537738.191 [DAT](INFO): got valid direction response: 04:02:16.8332 LVL= 14256, 14545, 22002, 27443, AGC= 49, IDX= 502, 0.45, 0.692, 1.086,-0.658, 0.976, PHS=-0.183, 0.154,-1.678, RAW= 20.1, 19.7, CAL= 18.6, 23.5, ROT= 131.4, -23.5 2025-10-27T04:02:18.191Z,1761537738.191 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T04:02:18.192Z,1761537738.192 [DAT](INFO): direction in FSK: [-0.606463,0.687897,0.398749] 2025-10-27T04:02:18.192Z,1761537738.192 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:18.196Z,1761537738.196 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.083061 2025-10-27T04:02:18.372Z,1761537738.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744822,-0.660528,-0.094566],[0.658962,-0.750417,0.051413],[-0.104924,-0.024022,0.994190]] 2025-10-27T04:02:18.432Z,1761537738.432 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.319023 2025-10-27T04:02:18.431Z,1761537738.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:18.437Z,1761537738.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.403452 m, bearing: 267.417965 deg, lat: 36.779397 deg, lon: -121.859549 deg, deltaT: 0.504143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:18.437Z,1761537738.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m. 2025-10-27T04:02:18.685Z,1761537738.685 [DAT](INFO): DAT read: Rx Time:04:02:17.3333 2025-10-27T04:02:18.685Z,1761537738.685 [DAT](INFO): Rx dataTimestamp_ set to:1761537738.684722 2025-10-27T04:02:18.686Z,1761537738.686 [DAT](INFO): DAT read: Bearing 68.4, 48.0 (Local) 2025-10-27T04:02:18.687Z,1761537738.687 [DAT](INFO): Local bearing/azimuth received: Bearing 68.4, 48.0 (Local) 2025-10-27T04:02:18.690Z,1761537738.690 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T04:02:18.696Z,1761537738.696 [DAT](INFO): DAT read: 04:02:17.3333 LVL= 14544, 13809, 23186, 27635, AGC= 48, IDX= 504,-0.07, 1.799, 2.167, 0.443, 2.072, PHS=-0.171, 0.140,-1.673, RAW= 20.8, 19.7, CAL= 19.2, 23.6, ROT= 130.8, -23.6 2025-10-27T04:02:18.698Z,1761537738.698 [DAT](INFO): got valid direction response: 04:02:17.3333 LVL= 14544, 13809, 23186, 27635, AGC= 48, IDX= 504,-0.07, 1.799, 2.167, 0.443, 2.072, PHS=-0.171, 0.140,-1.673, RAW= 20.8, 19.7, CAL= 19.2, 23.6, ROT= 130.8, -23.6 2025-10-27T04:02:18.698Z,1761537738.698 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T04:02:18.700Z,1761537738.700 [DAT](INFO): direction in FSK: [-0.598770,0.693682,0.400349] 2025-10-27T04:02:18.700Z,1761537738.700 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:18.726Z,1761537738.726 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.613331 2025-10-27T04:02:18.752Z,1761537738.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748668,-0.655451,-0.099400],[0.653784,-0.754816,0.053090],[-0.109826,-0.025239,0.993630]] 2025-10-27T04:02:18.842Z,1761537738.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503919 s, deltaX: 0.200001 m, approachRate: 0.396891 m/s, rangeRepo size: 4 2025-10-27T04:02:18.852Z,1761537738.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.602520 m, bearing: 267.041822 deg, lat: 36.779397 deg, lon: -121.859548 deg, deltaT: 0.503919 s, deltaX: 0.199068 m, approachRate: 0.395040 m/s, posRepo size: 4 2025-10-27T04:02:18.853Z,1761537738.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m. 2025-10-27T04:02:18.936Z,1761537738.936 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.823112 2025-10-27T04:02:19.181Z,1761537739.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m. 2025-10-27T04:02:19.189Z,1761537739.189 [DAT](INFO): DAT read: Rx Time:04:02:17.8332 2025-10-27T04:02:19.189Z,1761537739.189 [DAT](INFO): Rx dataTimestamp_ set to:1761537739.189006 2025-10-27T04:02:19.191Z,1761537739.191 [DAT](INFO): DAT read: Bearing 68.4, 49.2 (Local) 2025-10-27T04:02:19.191Z,1761537739.191 [DAT](INFO): Local bearing/azimuth received: Bearing 68.4, 49.2 (Local) 2025-10-27T04:02:19.193Z,1761537739.193 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 2025-10-27T04:02:19.198Z,1761537739.198 [DAT](INFO): DAT read: 04:02:17.8332 LVL= 13280, 15153, 22818, 26531, AGC= 47, IDX= 503, 0.21, 1.790, 2.118, 0.399, 2.035, PHS=-0.142, 0.128,-1.679, RAW= 22.0, 19.5, CAL= 20.4, 23.3, ROT= 129.6, -23.3 2025-10-27T04:02:19.199Z,1761537739.199 [DAT](INFO): got valid direction response: 04:02:17.8332 LVL= 13280, 15153, 22818, 26531, AGC= 47, IDX= 503, 0.21, 1.790, 2.118, 0.399, 2.035, PHS=-0.142, 0.128,-1.679, RAW= 22.0, 19.5, CAL= 20.4, 23.3, ROT= 129.6, -23.3 2025-10-27T04:02:19.199Z,1761537739.199 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T04:02:19.200Z,1761537739.200 [DAT](INFO): direction in FSK: [-0.585440,0.707675,0.395545] 2025-10-27T04:02:19.200Z,1761537739.200 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:19.204Z,1761537739.204 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.091068 2025-10-27T04:02:19.440Z,1761537739.440 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.326878 2025-10-27T04:02:19.550Z,1761537739.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755928,-0.645525,-0.108952],[0.643630,-0.763247,0.056513],[-0.119638,-0.027405,0.992439]] 2025-10-27T04:02:19.651Z,1761537739.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504284 s, deltaX: -0.200001 m, approachRate: -0.396603 m/s, rangeRepo size: 4 2025-10-27T04:02:19.653Z,1761537739.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.403379 m, bearing: 266.330843 deg, lat: 36.779397 deg, lon: -121.859548 deg, deltaT: 0.504284 s, deltaX: -0.199141 m, approachRate: -0.394898 m/s, posRepo size: 4 2025-10-27T04:02:19.654Z,1761537739.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m. 2025-10-27T04:02:19.694Z,1761537739.694 [DAT](INFO): DAT read: Rx Time:04:02:18.3333 2025-10-27T04:02:19.694Z,1761537739.694 [DAT](INFO): Rx dataTimestamp_ set to:1761537739.693781 2025-10-27T04:02:19.696Z,1761537739.696 [DAT](INFO): DAT read: Bearing 68.1, 50.1 (Local) 2025-10-27T04:02:19.697Z,1761537739.697 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 50.1 (Local) 2025-10-27T04:02:19.700Z,1761537739.700 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 2025-10-27T04:02:19.706Z,1761537739.706 [DAT](INFO): DAT read: 04:02:18.3333 LVL= 13296, 13969, 21810, 26403, AGC= 46, IDX= 505,-0.44, 1.499, 1.789, 0.093, 1.723, PHS=-0.121, 0.112,-1.673, RAW= 23.1, 19.5, CAL= 21.3, 23.1, ROT= 128.7, -23.1 2025-10-27T04:02:19.710Z,1761537739.710 [DAT](INFO): got valid direction response: 04:02:18.3333 LVL= 13296, 13969, 21810, 26403, AGC= 46, IDX= 505,-0.44, 1.499, 1.789, 0.093, 1.723, PHS=-0.121, 0.112,-1.673, RAW= 23.1, 19.5, CAL= 21.3, 23.1, ROT= 128.7, -23.1 2025-10-27T04:02:19.710Z,1761537739.710 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T04:02:19.712Z,1761537739.712 [DAT](INFO): direction in FSK: [-0.575112,0.717857,0.392337] 2025-10-27T04:02:19.712Z,1761537739.712 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:19.718Z,1761537739.718 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.604534 2025-10-27T04:02:19.944Z,1761537739.944 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.830853 2025-10-27T04:02:20.020Z,1761537740.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759407,-0.640805,-0.112563],[0.638616,-0.767235,0.059330],[-0.124382,-0.026829,0.991872]] 2025-10-27T04:02:20.043Z,1761537740.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504775 s, deltaX: 0.299999 m, approachRate: 0.594323 m/s, rangeRepo size: 4 2025-10-27T04:02:20.048Z,1761537740.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.702133 m, bearing: 265.690599 deg, lat: 36.779396 deg, lon: -121.859548 deg, deltaT: 0.504775 s, deltaX: 0.298754 m, approachRate: 0.591855 m/s, posRepo size: 4 2025-10-27T04:02:20.050Z,1761537740.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.70 m. 2025-10-27T04:02:20.197Z,1761537740.197 [DAT](INFO): DAT read: Rx Time:04:02:18.8333 2025-10-27T04:02:20.197Z,1761537740.197 [DAT](INFO): Rx dataTimestamp_ set to:1761537740.196833 2025-10-27T04:02:20.198Z,1761537740.198 [DAT](INFO): DAT read: Bearing 67.4, 51.3 (Local) 2025-10-27T04:02:20.199Z,1761537740.199 [DAT](INFO): Local bearing/azimuth received: Bearing 67.4, 51.3 (Local) 2025-10-27T04:02:20.201Z,1761537740.201 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T04:02:20.205Z,1761537740.205 [DAT](INFO): DAT read: 04:02:18.8333 LVL= 13648, 13425, 23106, 25843, AGC= 45, IDX= 504,-0.23,-0.750,-0.510,-2.181,-0.552, PHS=-0.096, 0.086,-1.673, RAW= 24.6, 19.6, CAL= 22.6, 23.1, ROT= 127.4, -23.1 2025-10-27T04:02:20.207Z,1761537740.207 [DAT](INFO): got valid direction response: 04:02:18.8333 LVL= 13648, 13425, 23106, 25843, AGC= 45, IDX= 504,-0.23,-0.750,-0.510,-2.181,-0.552, PHS=-0.096, 0.086,-1.673, RAW= 24.6, 19.6, CAL= 22.6, 23.1, ROT= 127.4, -23.1 2025-10-27T04:02:20.207Z,1761537740.207 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T04:02:20.208Z,1761537740.208 [DAT](INFO): direction in FSK: [-0.558677,0.730720,0.392337] 2025-10-27T04:02:20.208Z,1761537740.208 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:20.212Z,1761537740.212 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.099091 2025-10-27T04:02:20.411Z,1761537740.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763189,-0.635637,-0.116230],[0.633206,-0.771530,0.061578],[-0.128816,-0.026602,0.991312]] 2025-10-27T04:02:20.452Z,1761537740.452 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.338840 2025-10-27T04:02:20.517Z,1761537740.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503052 s, deltaX: -0.099998 m, approachRate: -0.198784 m/s, rangeRepo size: 4 2025-10-27T04:02:20.523Z,1761537740.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.602564 m, bearing: 264.647749 deg, lat: 36.779392 deg, lon: -121.859547 deg, deltaT: 0.503052 s, deltaX: -0.099569 m, approachRate: -0.197930 m/s, posRepo size: 4 2025-10-27T04:02:20.524Z,1761537740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m. 2025-10-27T04:02:20.701Z,1761537740.701 [DAT](INFO): DAT read: Rx Time:04:02:19.3333 2025-10-27T04:02:20.702Z,1761537740.702 [DAT](INFO): Rx dataTimestamp_ set to:1761537740.701443 2025-10-27T04:02:20.704Z,1761537740.704 [DAT](INFO): DAT read: Bearing 66.6, 52.7 (Local) 2025-10-27T04:02:20.704Z,1761537740.704 [DAT](INFO): Local bearing/azimuth received: Bearing 66.6, 52.7 (Local) 2025-10-27T04:02:20.708Z,1761537740.708 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 2025-10-27T04:02:20.716Z,1761537740.716 [DAT](INFO): DAT read: 04:02:19.3333 LVL= 13680, 14193, 22322, 26547, AGC= 47, IDX= 505,-0.23, 1.603, 1.784, 0.120, 1.767, PHS=-0.062, 0.063,-1.690, RAW= 26.3, 19.4, CAL= 24.2, 22.9, ROT= 125.8, -22.9 2025-10-27T04:02:20.718Z,1761537740.718 [DAT](INFO): got valid direction response: 04:02:19.3333 LVL= 13680, 14193, 22322, 26547, AGC= 47, IDX= 505,-0.23, 1.603, 1.784, 0.120, 1.767, PHS=-0.062, 0.063,-1.690, RAW= 26.3, 19.4, CAL= 24.2, 22.9, ROT= 125.8, -22.9 2025-10-27T04:02:20.718Z,1761537740.718 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T04:02:20.720Z,1761537740.720 [DAT](INFO): direction in FSK: [-0.538855,0.747140,0.389124] 2025-10-27T04:02:20.720Z,1761537740.720 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:20.748Z,1761537740.748 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.634670 2025-10-27T04:02:20.786Z,1761537740.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766758,-0.630641,-0.119888],[0.628003,-0.775618,0.063475],[-0.133017,-0.026620,0.990756]] 2025-10-27T04:02:20.853Z,1761537740.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504610 s, deltaX: 0.099998 m, approachRate: 0.198170 m/s, rangeRepo size: 4 2025-10-27T04:02:20.856Z,1761537740.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.702173 m, bearing: 263.317042 deg, lat: 36.779390 deg, lon: -121.859546 deg, deltaT: 0.504610 s, deltaX: 0.099609 m, approachRate: 0.197399 m/s, posRepo size: 4 2025-10-27T04:02:20.857Z,1761537740.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.70 m. 2025-10-27T04:02:20.955Z,1761537740.955 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.841454 2025-10-27T04:02:21.182Z,1761537741.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770627,-0.625219,-0.123431],[0.622411,-0.779990,0.064957],[-0.136887,-0.026767,0.990225]] 2025-10-27T04:02:21.205Z,1761537741.205 [DAT](INFO): DAT read: Rx Time:04:02:19.8333 2025-10-27T04:02:21.205Z,1761537741.205 [DAT](INFO): Rx dataTimestamp_ set to:1761537741.204717 2025-10-27T04:02:21.206Z,1761537741.206 [DAT](INFO): DAT read: Bearing 66.0, 54.0 (Local) 2025-10-27T04:02:21.207Z,1761537741.207 [DAT](INFO): Local bearing/azimuth received: Bearing 66.0, 54.0 (Local) 2025-10-27T04:02:21.209Z,1761537741.209 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T04:02:21.214Z,1761537741.214 [DAT](INFO): DAT read: 04:02:19.8333 LVL= 15792, 16689, 24978, 27555, AGC= 49, IDX= 504,-0.20, 1.257, 1.388,-0.268, 1.390, PHS=-0.031, 0.043,-1.702, RAW= 27.9, 19.3, CAL= 25.5, 22.6, ROT= 124.5, -22.6 2025-10-27T04:02:21.215Z,1761537741.215 [DAT](INFO): got valid direction response: 04:02:19.8333 LVL= 15792, 16689, 24978, 27555, AGC= 49, IDX= 504,-0.20, 1.257, 1.388,-0.268, 1.390, PHS=-0.031, 0.043,-1.702, RAW= 27.9, 19.3, CAL= 25.5, 22.6, ROT= 124.5, -22.6 2025-10-27T04:02:21.215Z,1761537741.215 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T04:02:21.216Z,1761537741.216 [DAT](INFO): direction in FSK: [-0.522912,0.760842,0.384295] 2025-10-27T04:02:21.217Z,1761537741.217 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:21.225Z,1761537741.225 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.111687 2025-10-27T04:02:21.236Z,1761537741.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503274 s, deltaX: -0.099998 m, approachRate: -0.198696 m/s, rangeRepo size: 4 2025-10-27T04:02:21.237Z,1761537741.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.70 m. 2025-10-27T04:02:21.460Z,1761537741.460 [DAT](INFO): DAT read: Rx Time:04:02:20.3333 2025-10-27T04:02:21.462Z,1761537741.462 [DAT](INFO): Rx dataTimestamp_ set to:1761537741.460674 2025-10-27T04:02:21.464Z,1761537741.464 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.350567 2025-10-27T04:02:21.597Z,1761537741.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774782,-0.619412,-0.126657],[0.616441,-0.784610,0.066238],[-0.140405,-0.026756,0.989733]] 2025-10-27T04:02:21.655Z,1761537741.655 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:02:21.662Z,1761537741.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.70 m. 2025-10-27T04:02:21.710Z,1761537741.710 [DAT](INFO): DAT read: Bearing 66.1, 54.8 (Local) 2025-10-27T04:02:21.710Z,1761537741.710 [DAT](INFO): Local bearing/azimuth received: Bearing 66.1, 54.8 (Local) 2025-10-27T04:02:21.713Z,1761537741.713 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T04:02:21.721Z,1761537741.721 [DAT](INFO): DAT read: 04:02:20.3333 LVL= 16832, 16369, 25042, 28195, AGC= 47, IDX= 504,-0.05, 0.343, 0.450,-1.182, 0.456, PHS=-0.012, 0.038,-1.682, RAW= 28.5, 19.0, CAL= 26.1, 22.3, ROT= 123.9, -22.3 2025-10-27T04:02:21.723Z,1761537741.723 [DAT](INFO): got valid direction response: 04:02:20.3333 LVL= 16832, 16369, 25042, 28195, AGC= 47, IDX= 504,-0.05, 0.343, 0.450,-1.182, 0.456, PHS=-0.012, 0.038,-1.682, RAW= 28.5, 19.0, CAL= 26.1, 22.3, ROT= 123.9, -22.3 2025-10-27T04:02:21.724Z,1761537741.724 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T04:02:21.725Z,1761537741.725 [DAT](INFO): direction in FSK: [-0.516031,0.767935,0.379456] 2025-10-27T04:02:21.725Z,1761537741.725 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:21.748Z,1761537741.748 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.625542 2025-10-27T04:02:21.963Z,1761537741.963 [DAT](INFO): DAT read: Rx Time:04:02:20.8332 2025-10-27T04:02:21.964Z,1761537741.964 [DAT](INFO): Rx dataTimestamp_ set to:1761537741.963250 2025-10-27T04:02:21.966Z,1761537741.966 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.852451 2025-10-27T04:02:22.030Z,1761537742.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778931,-0.613617,-0.129389],[0.610430,-0.789168,0.067734],[-0.143672,-0.026223,0.989278]] 2025-10-27T04:02:22.060Z,1761537742.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503309 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:22.062Z,1761537742.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.602636 m, bearing: 262.469131 deg, lat: 36.779381 deg, lon: -121.859546 deg, deltaT: 1.006583 s, deltaX: -0.099537 m, approachRate: -0.098886 m/s, posRepo size: 4 2025-10-27T04:02:22.062Z,1761537742.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m. 2025-10-27T04:02:22.218Z,1761537742.218 [DAT](INFO): DAT read: Bearing 66.1, 55.8 (Local) 2025-10-27T04:02:22.219Z,1761537742.219 [DAT](INFO): Local bearing/azimuth received: Bearing 66.1, 55.8 (Local) 2025-10-27T04:02:22.221Z,1761537742.221 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 2025-10-27T04:02:22.225Z,1761537742.225 [DAT](INFO): DAT read: 04:02:20.8332 LVL= 14928, 13633, 22562, 26099, AGC= 47, IDX= 503, 0.14,-0.055, 0.018,-1.610, 0.031, PHS= 0.016, 0.032,-1.685, RAW= 29.5, 18.7, CAL= 27.0, 21.8, ROT= 123.0, -21.8 2025-10-27T04:02:22.228Z,1761537742.228 [DAT](INFO): got valid direction response: 04:02:20.8332 LVL= 14928, 13633, 22562, 26099, AGC= 47, IDX= 503, 0.14,-0.055, 0.018,-1.610, 0.031, PHS= 0.016, 0.032,-1.685, RAW= 29.5, 18.7, CAL= 27.0, 21.8, ROT= 123.0, -21.8 2025-10-27T04:02:22.228Z,1761537742.228 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T04:02:22.229Z,1761537742.229 [DAT](INFO): direction in FSK: [-0.505690,0.778694,0.371368] 2025-10-27T04:02:22.230Z,1761537742.230 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:22.235Z,1761537742.235 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.122379 2025-10-27T04:02:22.468Z,1761537742.468 [DAT](INFO): DAT read: Rx Time:04:02:21.3333 2025-10-27T04:02:22.469Z,1761537742.469 [DAT](INFO): Rx dataTimestamp_ set to:1761537742.468159 2025-10-27T04:02:22.472Z,1761537742.472 [DAT](INFO): DAT read: Bearing 66.3, 56.5 (Local) 2025-10-27T04:02:22.473Z,1761537742.473 [DAT](INFO): Local bearing/azimuth received: Bearing 66.3, 56.5 (Local) 2025-10-27T04:02:22.477Z,1761537742.477 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.361210 2025-10-27T04:02:22.520Z,1761537742.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788388,-0.600189,-0.134976],[0.596918,-0.799407,0.068102],[-0.148775,-0.026879,0.988506]] 2025-10-27T04:02:22.608Z,1761537742.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.505888 s, deltaX: -0.200001 m, approachRate: -0.395346 m/s, rangeRepo size: 4 2025-10-27T04:02:22.610Z,1761537742.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.403494 m, bearing: 262.472039 deg, lat: 36.779378 deg, lon: -121.859544 deg, deltaT: 0.505888 s, deltaX: -0.199142 m, approachRate: -0.393649 m/s, posRepo size: 4 2025-10-27T04:02:22.610Z,1761537742.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m. 2025-10-27T04:02:22.660Z,1761537742.660 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:02:22.725Z,1761537742.725 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1 2025-10-27T04:02:22.730Z,1761537742.730 [DAT](INFO): DAT read: 04:02:21.3333 LVL= 13648, 13969, 23730, 27459, AGC= 49, IDX= 504, 0.45, 1.490, 1.547,-0.071, 1.561, PHS= 0.031, 0.031,-1.676, RAW= 30.0, 18.5, CAL= 27.4, 21.5, ROT= 122.6, -21.5 2025-10-27T04:02:22.732Z,1761537742.732 [DAT](INFO): got valid direction response: 04:02:21.3333 LVL= 13648, 13969, 23730, 27459, AGC= 49, IDX= 504, 0.45, 1.490, 1.547,-0.071, 1.561, PHS= 0.031, 0.031,-1.676, RAW= 30.0, 18.5, CAL= 27.4, 21.5, ROT= 122.6, -21.5 2025-10-27T04:02:22.733Z,1761537742.733 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T04:02:22.734Z,1761537742.734 [DAT](INFO): direction in FSK: [-0.501282,0.783833,0.366501] 2025-10-27T04:02:22.743Z,1761537742.743 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:22.747Z,1761537742.747 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.633953 2025-10-27T04:02:22.874Z,1761537742.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793577,-0.592848,-0.136989],[0.589534,-0.804870,0.068068],[-0.150612,-0.026742,0.988231]] 2025-10-27T04:02:22.922Z,1761537742.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.508401 s, deltaX: 0.200001 m, approachRate: 0.393392 m/s, rangeRepo size: 4 2025-10-27T04:02:22.928Z,1761537742.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.602652 m, bearing: 262.599057 deg, lat: 36.779376 deg, lon: -121.859544 deg, deltaT: 0.508401 s, deltaX: 0.199158 m, approachRate: 0.391734 m/s, posRepo size: 4 2025-10-27T04:02:22.929Z,1761537742.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m. 2025-10-27T04:02:22.982Z,1761537742.982 [DAT](INFO): DAT read: Rx Time:04:02:21.8333 2025-10-27T04:02:22.984Z,1761537742.984 [DAT](INFO): Rx dataTimestamp_ set to:1761537742.983456 2025-10-27T04:02:22.988Z,1761537742.988 [DAT](INFO): DAT read: Bearing 65.7, 56.8 (Local) 2025-10-27T04:02:22.989Z,1761537742.989 [DAT](INFO): Local bearing/azimuth received: Bearing 65.7, 56.8 (Local) 2025-10-27T04:02:22.993Z,1761537742.993 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1 2025-10-27T04:02:22.999Z,1761537742.999 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-27T04:02:23.002Z,1761537743.002 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.887962 2025-10-27T04:02:23.236Z,1761537743.236 [DAT](INFO): DAT read: 04:02:21.8333 LVL= 15712, 16065, 25074, 27731, AGC= 51, IDX= 504,-0.05,-0.104,-0.070,-1.671,-0.036, PHS= 0.035, 0.012,-1.679, RAW= 30.7, 18.7, CAL= 28.0, 21.8, ROT= 122.0, -21.8 2025-10-27T04:02:23.237Z,1761537743.237 [DAT](INFO): got valid direction response: 04:02:21.8333 LVL= 15712, 16065, 25074, 27731, AGC= 51, IDX= 504,-0.05,-0.104,-0.070,-1.671,-0.036, PHS= 0.035, 0.012,-1.679, RAW= 30.7, 18.7, CAL= 28.0, 21.8, ROT= 122.0, -21.8 2025-10-27T04:02:23.237Z,1761537743.237 [DAT](INFO): #Rx 84: Read direction message, but no range. 2025-10-27T04:02:23.238Z,1761537743.238 [DAT](INFO): direction in FSK: [-0.492023,0.787401,0.371368] 2025-10-27T04:02:23.241Z,1761537743.241 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.128368 2025-10-27T04:02:23.288Z,1761537743.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798324,-0.586034,-0.138717],[0.582667,-0.809854,0.068089],[-0.152243,-0.026469,0.987989]] 2025-10-27T04:02:23.346Z,1761537743.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.261141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:23.353Z,1761537743.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.602652 m, bearing: 262.387317 deg, lat: 36.779376 deg, lon: -121.859543 deg, deltaT: 0.261141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:23.353Z,1761537743.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m. 2025-10-27T04:02:23.489Z,1761537743.489 [DAT](INFO): DAT read: Rx Time:04:02:22.3334 2025-10-27T04:02:23.490Z,1761537743.490 [DAT](INFO): Rx dataTimestamp_ set to:1761537743.489176 2025-10-27T04:02:23.493Z,1761537743.493 [DAT](INFO): DAT read: Bearing 65.5, 57.1 (Local) 2025-10-27T04:02:23.494Z,1761537743.494 [DAT](INFO): Local bearing/azimuth received: Bearing 65.5, 57.1 (Local) 2025-10-27T04:02:23.498Z,1761537743.498 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.2 2025-10-27T04:02:23.501Z,1761537743.501 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-27T04:02:23.504Z,1761537743.504 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.390469 2025-10-27T04:02:23.683Z,1761537743.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803648,-0.578284,-0.140490],[0.575040,-0.815387,0.066880],[-0.153229,-0.027040,0.987821]] 2025-10-27T04:02:23.740Z,1761537743.740 [DAT](INFO): DAT read: 04:02:22.3334 LVL= 15712, 16977, 24994, 27299, AGC= 51, IDX= 506,-0.25, 0.408, 0.429,-1.163, 0.475, PHS= 0.036,-0.001,-1.681, RAW= 31.1, 18.9, CAL= 28.3, 22.0, ROT= 121.7, -22.0 2025-10-27T04:02:23.741Z,1761537743.741 [DAT](INFO): got valid direction response: 04:02:22.3334 LVL= 15712, 16977, 24994, 27299, AGC= 51, IDX= 506,-0.25, 0.408, 0.429,-1.163, 0.475, PHS= 0.036,-0.001,-1.681, RAW= 31.1, 18.9, CAL= 28.3, 22.0, ROT= 121.7, -22.0 2025-10-27T04:02:23.741Z,1761537743.741 [DAT](INFO): #Rx 86: Read direction message, but no range. 2025-10-27T04:02:23.742Z,1761537743.742 [DAT](INFO): direction in FSK: [-0.487209,0.788858,0.374607] 2025-10-27T04:02:23.746Z,1761537743.746 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.632648 2025-10-27T04:02:23.790Z,1761537743.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.505720 s, deltaX: 0.299999 m, approachRate: 0.593212 m/s, rangeRepo size: 4 2025-10-27T04:02:23.797Z,1761537743.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.901461 m, bearing: 262.562660 deg, lat: 36.779375 deg, lon: -121.859543 deg, deltaT: 0.505720 s, deltaX: 0.298809 m, approachRate: 0.590859 m/s, posRepo size: 4 2025-10-27T04:02:23.798Z,1761537743.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m. 2025-10-27T04:02:23.993Z,1761537743.993 [DAT](INFO): DAT read: Rx Time:04:02:22.8334 2025-10-27T04:02:23.994Z,1761537743.994 [DAT](INFO): Rx dataTimestamp_ set to:1761537743.993347 2025-10-27T04:02:24.002Z,1761537744.002 [DAT](INFO): DAT read: Bearing 66.1, 57.5 (Local) 2025-10-27T04:02:24.004Z,1761537744.004 [DAT](INFO): Local bearing/azimuth received: Bearing 66.1, 57.5 (Local) 2025-10-27T04:02:24.010Z,1761537744.010 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.2 2025-10-27T04:02:24.039Z,1761537744.039 [DAT](INFO): DAT read: 04:02:22.8334 LVL= 16608, 17185, 24242, 26691, AGC= 51, IDX= 506,-0.41,-1.280,-1.267,-2.852,-1.223, PHS= 0.045, 0.001,-1.673, RAW= 31.3, 18.7, CAL= 28.5, 21.8, ROT= 121.5, -21.8 2025-10-27T04:02:24.041Z,1761537744.041 [DAT](INFO): got valid direction response: 04:02:22.8334 LVL= 16608, 17185, 24242, 26691, AGC= 51, IDX= 506,-0.41,-1.280,-1.267,-2.852,-1.223, PHS= 0.045, 0.001,-1.673, RAW= 31.3, 18.7, CAL= 28.5, 21.8, ROT= 121.5, -21.8 2025-10-27T04:02:24.041Z,1761537744.041 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T04:02:24.042Z,1761537744.042 [DAT](INFO): direction in FSK: [-0.485132,0.791664,0.371368] 2025-10-27T04:02:24.042Z,1761537744.042 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:24.068Z,1761537744.068 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.955227 2025-10-27T04:02:24.108Z,1761537744.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808967,-0.570577,-0.141475],[0.567386,-0.820804,0.065984],[-0.153772,-0.026892,0.987740]] 2025-10-27T04:02:24.196Z,1761537744.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:24.198Z,1761537744.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.901461 m, bearing: 262.923905 deg, lat: 36.779374 deg, lon: -121.859543 deg, deltaT: 0.504171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:24.203Z,1761537744.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m. 2025-10-27T04:02:24.241Z,1761537744.241 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.127293 2025-10-27T04:02:24.497Z,1761537744.497 [DAT](INFO): DAT read: Rx Time:04:02:23.3335 2025-10-27T04:02:24.498Z,1761537744.498 [DAT](INFO): Rx dataTimestamp_ set to:1761537744.497371 2025-10-27T04:02:24.502Z,1761537744.502 [DAT](INFO): DAT read: Bearing 66.2, 57.8 (Local) 2025-10-27T04:02:24.503Z,1761537744.503 [DAT](INFO): Local bearing/azimuth received: Bearing 66.2, 57.8 (Local) 2025-10-27T04:02:24.509Z,1761537744.509 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.3 2025-10-27T04:02:24.512Z,1761537744.512 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-27T04:02:24.512Z,1761537744.512 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.399399 2025-10-27T04:02:24.651Z,1761537744.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504024 s, deltaX: 0.100000 m, approachRate: 0.198404 m/s, rangeRepo size: 4 2025-10-27T04:02:24.652Z,1761537744.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m. 2025-10-27T04:02:24.750Z,1761537744.750 [DAT](INFO): DAT read: 04:02:23.3335 LVL= 13552, 14769, 23026, 27171, AGC= 50, IDX= 507,-0.36,-2.669,-2.669, 2.042,-2.617, PHS= 0.050,-0.007,-1.668, RAW= 31.7, 18.8, CAL= 28.8, 21.8, ROT= 121.2, -21.8 2025-10-27T04:02:24.760Z,1761537744.760 [DAT](INFO): got valid direction response: 04:02:23.3335 LVL= 13552, 14769, 23026, 27171, AGC= 50, IDX= 507,-0.36,-2.669,-2.669, 2.042,-2.617, PHS= 0.050,-0.007,-1.668, RAW= 31.7, 18.8, CAL= 28.8, 21.8, ROT= 121.2, -21.8 2025-10-27T04:02:24.760Z,1761537744.760 [DAT](INFO): #Rx 89: Read direction message, but no range. 2025-10-27T04:02:24.761Z,1761537744.761 [DAT](INFO): direction in FSK: [-0.480981,0.794194,0.371368] 2025-10-27T04:02:24.789Z,1761537744.789 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.675598 2025-10-27T04:02:24.937Z,1761537744.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819153,-0.555717,-0.142013],[0.552493,-0.830987,0.064901],[-0.154078,-0.025298,0.987735]] 2025-10-27T04:02:25.001Z,1761537745.001 [DAT](INFO): DAT read: Rx Time:04:02:23.8335 2025-10-27T04:02:25.002Z,1761537745.002 [DAT](INFO): Rx dataTimestamp_ set to:1761537745.001139 2025-10-27T04:02:25.006Z,1761537745.006 [DAT](INFO): DAT read: Bearing 66.4, 58.1 (Local) 2025-10-27T04:02:25.006Z,1761537745.006 [DAT](INFO): Local bearing/azimuth received: Bearing 66.4, 58.1 (Local) 2025-10-27T04:02:25.012Z,1761537745.012 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.3 2025-10-27T04:02:25.013Z,1761537745.013 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-27T04:02:25.014Z,1761537745.014 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.900646 2025-10-27T04:02:25.016Z,1761537745.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503768 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:25.016Z,1761537745.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m. 2025-10-27T04:02:25.257Z,1761537745.257 [DAT](INFO): DAT read: 04:02:23.8335 LVL= 15792, 14097, 26258, 29363, AGC= 48, IDX= 507,-0.15, 0.855, 0.847,-0.719, 0.904, PHS= 0.054,-0.011,-1.667, RAW= 31.9, 18.8, CAL= 29.1, 21.8, ROT= 120.9, -21.8 2025-10-27T04:02:25.258Z,1761537745.258 [DAT](INFO): got valid direction response: 04:02:23.8335 LVL= 15792, 14097, 26258, 29363, AGC= 48, IDX= 507,-0.15, 0.855, 0.847,-0.719, 0.904, PHS= 0.054,-0.011,-1.667, RAW= 31.9, 18.8, CAL= 29.1, 21.8, ROT= 120.9, -21.8 2025-10-27T04:02:25.258Z,1761537745.258 [DAT](INFO): #Rx 91: Read direction message, but no range. 2025-10-27T04:02:25.259Z,1761537745.259 [DAT](INFO): direction in FSK: [-0.476816,0.796701,0.371368] 2025-10-27T04:02:25.262Z,1761537745.262 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.149395 2025-10-27T04:02:25.343Z,1761537745.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824072,-0.548394,-0.142022],[0.545224,-0.835853,0.063883],[-0.153742,-0.024789,0.987800]] 2025-10-27T04:02:25.372Z,1761537745.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m. 2025-10-27T04:02:25.506Z,1761537745.506 [DAT](INFO): DAT read: Rx Time:04:02:24.3337 2025-10-27T04:02:25.508Z,1761537745.508 [DAT](INFO): Rx dataTimestamp_ set to:1761537745.506427 2025-10-27T04:02:25.512Z,1761537745.512 [DAT](INFO): DAT read: Bearing 67.5, 58.5 (Local) 2025-10-27T04:02:25.512Z,1761537745.512 [DAT](INFO): Local bearing/azimuth received: Bearing 67.5, 58.5 (Local) 2025-10-27T04:02:25.514Z,1761537745.514 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.4 2025-10-27T04:02:25.514Z,1761537745.514 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-27T04:02:25.516Z,1761537745.516 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.403248 2025-10-27T04:02:25.750Z,1761537745.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828748,-0.541224,-0.142314],[0.538214,-0.840506,0.062244],[-0.153304,-0.025011,0.987862]] 2025-10-27T04:02:25.755Z,1761537745.755 [DAT](INFO): DAT read: 04:02:24.3337 LVL= 15696, 15057, 25842, 29091, AGC= 47, IDX= 509, 0.04, 2.383, 2.374, 0.805, 2.420, PHS= 0.065,-0.000,-1.658, RAW= 31.9, 18.4, CAL= 29.1, 21.3, ROT= 120.9, -21.3 2025-10-27T04:02:25.757Z,1761537745.757 [DAT](INFO): got valid direction response: 04:02:24.3337 LVL= 15696, 15057, 25842, 29091, AGC= 47, IDX= 509, 0.04, 2.383, 2.374, 0.805, 2.420, PHS= 0.065,-0.000,-1.658, RAW= 31.9, 18.4, CAL= 29.1, 21.3, ROT= 120.9, -21.3 2025-10-27T04:02:25.757Z,1761537745.757 [DAT](INFO): #Rx 93: Read direction message, but no range. 2025-10-27T04:02:25.758Z,1761537745.758 [DAT](INFO): direction in FSK: [-0.478462,0.799452,0.363251] 2025-10-27T04:02:25.761Z,1761537745.761 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.648178 2025-10-27T04:02:25.871Z,1761537745.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.505288 s, deltaX: 0.299999 m, approachRate: 0.593719 m/s, rangeRepo size: 4 2025-10-27T04:02:25.873Z,1761537745.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.299610 m, bearing: 264.466571 deg, lat: 36.779374 deg, lon: -121.859542 deg, deltaT: 1.513080 s, deltaX: 0.398149 m, approachRate: 0.263138 m/s, posRepo size: 4 2025-10-27T04:02:25.873Z,1761537745.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m. 2025-10-27T04:02:26.008Z,1761537746.008 [DAT](INFO): DAT read: Rx Time:04:02:24.8337 2025-10-27T04:02:26.010Z,1761537746.010 [DAT](INFO): Rx dataTimestamp_ set to:1761537746.008742 2025-10-27T04:02:26.013Z,1761537746.013 [DAT](INFO): DAT read: Bearing 67.5, 58.6 (Local) 2025-10-27T04:02:26.013Z,1761537746.013 [DAT](INFO): Local bearing/azimuth received: Bearing 67.5, 58.6 (Local) 2025-10-27T04:02:26.015Z,1761537746.015 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.4 2025-10-27T04:02:26.020Z,1761537746.020 [DAT](INFO): DAT read: 04:02:24.8337 LVL= 14672, 13697, 24978, 27363, AGC= 47, IDX= 509, 0.27, 1.127, 1.109,-0.459, 1.163, PHS= 0.066,-0.009,-1.666, RAW= 32.2, 18.5, CAL= 29.3, 21.5, ROT= 120.7, -21.5 2025-10-27T04:02:26.021Z,1761537746.021 [DAT](INFO): got valid direction response: 04:02:24.8337 LVL= 14672, 13697, 24978, 27363, AGC= 47, IDX= 509, 0.27, 1.127, 1.109,-0.459, 1.163, PHS= 0.066,-0.009,-1.666, RAW= 32.2, 18.5, CAL= 29.3, 21.5, ROT= 120.7, -21.5 2025-10-27T04:02:26.022Z,1761537746.022 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T04:02:26.022Z,1761537746.022 [DAT](INFO): direction in FSK: [-0.475018,0.800022,0.366501] 2025-10-27T04:02:26.027Z,1761537746.027 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:26.031Z,1761537746.031 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=43.917465 2025-10-27T04:02:26.154Z,1761537746.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833299,-0.534044,-0.142862],[0.531333,-0.845053,0.059751],[-0.152636,-0.026117,0.987937]] 2025-10-27T04:02:26.201Z,1761537746.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.502315 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:26.206Z,1761537746.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.299610 m, bearing: 264.720361 deg, lat: 36.779374 deg, lon: -121.859542 deg, deltaT: 0.502315 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:26.206Z,1761537746.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m. 2025-10-27T04:02:26.257Z,1761537746.257 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.143826 2025-10-27T04:02:26.511Z,1761537746.511 [DAT](INFO): DAT read: Rx Time:04:02:25.3340 2025-10-27T04:02:26.511Z,1761537746.511 [DAT](INFO): Rx dataTimestamp_ set to:1761537746.511032 2025-10-27T04:02:26.513Z,1761537746.513 [DAT](INFO): DAT read: Bearing 63.7, 58.9 (Local) 2025-10-27T04:02:26.513Z,1761537746.513 [DAT](INFO): Local bearing/azimuth received: Bearing 63.7, 58.9 (Local) 2025-10-27T04:02:26.515Z,1761537746.515 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.3 2025-10-27T04:02:26.520Z,1761537746.520 [DAT](INFO): DAT read: 04:02:25.3340 LVL= 15552, 13729, 25106, 29747, AGC= 47, IDX= 512,-0.44,-1.842,-1.948, 2.694,-1.816, PHS= 0.076,-0.087,-1.817, RAW= 34.4, 19.6, CAL= 31.3, 22.7, ROT= 118.7, -22.7 2025-10-27T04:02:26.521Z,1761537746.521 [DAT](INFO): got valid direction response: 04:02:25.3340 LVL= 15552, 13729, 25106, 29747, AGC= 47, IDX= 512,-0.44,-1.842,-1.948, 2.694,-1.816, PHS= 0.076,-0.087,-1.817, RAW= 34.4, 19.6, CAL= 31.3, 22.7, ROT= 118.7, -22.7 2025-10-27T04:02:26.521Z,1761537746.521 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T04:02:26.522Z,1761537746.522 [DAT](INFO): direction in FSK: [-0.443024,0.809201,0.385906] 2025-10-27T04:02:26.523Z,1761537746.523 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:26.527Z,1761537746.527 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.413818 2025-10-27T04:02:26.698Z,1761537746.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.502290 s, deltaX: 0.500000 m, approachRate: 0.995441 m/s, rangeRepo size: 4 2025-10-27T04:02:26.705Z,1761537746.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.797466 m, bearing: 262.491993 deg, lat: 36.779374 deg, lon: -121.859542 deg, deltaT: 0.502290 s, deltaX: 0.497856 m, approachRate: 0.991173 m/s, posRepo size: 4 2025-10-27T04:02:26.706Z,1761537746.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m. 2025-10-27T04:02:26.760Z,1761537746.760 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.647144 2025-10-27T04:02:27.013Z,1761537747.013 [DAT](INFO): DAT read: Rx Time:04:02:25.8340 2025-10-27T04:02:27.013Z,1761537747.013 [DAT](INFO): Rx dataTimestamp_ set to:1761537747.012863 2025-10-27T04:02:27.014Z,1761537747.014 [DAT](INFO): DAT read: Bearing 57.2, 58.0 (Local) 2025-10-27T04:02:27.015Z,1761537747.015 [DAT](INFO): Local bearing/azimuth received: Bearing 57.2, 58.0 (Local) 2025-10-27T04:02:27.017Z,1761537747.017 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.3 2025-10-27T04:02:27.022Z,1761537747.022 [DAT](INFO): DAT read: 04:02:25.8340 LVL= 14816, 13473, 24786, 27939, AGC= 47, IDX= 512,-0.23,-2.959, 3.112, 1.509,-2.903, PHS= 0.046,-0.224,-1.916, RAW= 37.3, 21.9, CAL= 34.0, 25.6, ROT= 116.0, -25.6 2025-10-27T04:02:27.023Z,1761537747.023 [DAT](INFO): got valid direction response: 04:02:25.8340 LVL= 14816, 13473, 24786, 27939, AGC= 47, IDX= 512,-0.23,-2.959, 3.112, 1.509,-2.903, PHS= 0.046,-0.224,-1.916, RAW= 37.3, 21.9, CAL= 34.0, 25.6, ROT= 116.0, -25.6 2025-10-27T04:02:27.023Z,1761537747.023 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T04:02:27.024Z,1761537747.024 [DAT](INFO): direction in FSK: [-0.395337,0.810562,0.432086] 2025-10-27T04:02:27.024Z,1761537747.024 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:27.028Z,1761537747.028 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=44.915363 2025-10-27T04:02:27.135Z,1761537747.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841624,-0.520616,-0.143625],[0.518557,-0.853309,0.054420],[-0.150889,-0.028677,0.988135]] 2025-10-27T04:02:27.180Z,1761537747.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.501831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:27.182Z,1761537747.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.797440 m, bearing: 260.167826 deg, lat: 36.779374 deg, lon: -121.859541 deg, deltaT: 0.501831 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 2025-10-27T04:02:27.182Z,1761537747.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m. 2025-10-27T04:02:27.265Z,1761537747.265 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.151695 2025-10-27T04:02:27.517Z,1761537747.517 [DAT](INFO): DAT read: Rx Time:04:02:26.3342 2025-10-27T04:02:27.518Z,1761537747.518 [DAT](INFO): Rx dataTimestamp_ set to:1761537747.517544 2025-10-27T04:02:27.519Z,1761537747.519 [DAT](INFO): DAT read: Bearing 68.7, 58.8 (Local) 2025-10-27T04:02:27.520Z,1761537747.520 [DAT](INFO): Local bearing/azimuth received: Bearing 68.7, 58.8 (Local) 2025-10-27T04:02:27.522Z,1761537747.522 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.3 2025-10-27T04:02:27.527Z,1761537747.527 [DAT](INFO): DAT read: 04:02:26.3342 LVL= 9328, 11121, 15650, 16707, AGC= 49, IDX= 2,-0.14, 1.536, 1.503,-0.033, 1.564, PHS= 0.075,-0.015,-1.641, RAW= 32.7, 18.5, CAL= 29.7, 21.4, ROT= 120.3, -21.4 2025-10-27T04:02:27.528Z,1761537747.528 [DAT](INFO): got valid direction response: 04:02:26.3342 LVL= 9328, 11121, 15650, 16707, AGC= 49, IDX= 2,-0.14, 1.536, 1.503,-0.033, 1.564, PHS= 0.075,-0.015,-1.641, RAW= 32.7, 18.5, CAL= 29.7, 21.4, ROT= 120.3, -21.4 2025-10-27T04:02:27.528Z,1761537747.528 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T04:02:27.529Z,1761537747.529 [DAT](INFO): direction in FSK: [-0.469743,0.803869,0.364877] 2025-10-27T04:02:27.529Z,1761537747.529 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:27.533Z,1761537747.533 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.420223 2025-10-27T04:02:27.558Z,1761537747.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845210,-0.514761,-0.143671],[0.512938,-0.856828,0.052349],[-0.150049,-0.029448,0.988240]] 2025-10-27T04:02:27.686Z,1761537747.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504681 s, deltaX: 0.300001 m, approachRate: 0.594437 m/s, rangeRepo size: 4 2025-10-27T04:02:27.697Z,1761537747.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.096155 m, bearing: 265.654893 deg, lat: 36.779375 deg, lon: -121.859542 deg, deltaT: 0.504681 s, deltaX: 0.298716 m, approachRate: 0.591890 m/s, posRepo size: 4 2025-10-27T04:02:27.698Z,1761537747.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m. 2025-10-27T04:02:27.769Z,1761537747.769 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.655533 2025-10-27T04:02:28.021Z,1761537748.021 [DAT](INFO): DAT read: Rx Time:04:02:26.8342 2025-10-27T04:02:28.021Z,1761537748.021 [DAT](INFO): Rx dataTimestamp_ set to:1761537748.020769 2025-10-27T04:02:28.022Z,1761537748.022 [DAT](INFO): DAT read: Bearing 68.1, 58.8 (Local) 2025-10-27T04:02:28.023Z,1761537748.023 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 58.8 (Local) 2025-10-27T04:02:28.025Z,1761537748.025 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.3 2025-10-27T04:02:28.029Z,1761537748.029 [DAT](INFO): DAT read: 04:02:26.8342 LVL= 14800, 12977, 23778, 27859, AGC= 48, IDX= 498,-0.17, 1.047, 1.000,-0.523, 1.077, PHS= 0.072,-0.032,-1.644, RAW= 33.1, 18.8, CAL= 30.1, 21.7, ROT= 119.9, -21.7 2025-10-27T04:02:28.031Z,1761537748.031 [DAT](INFO): got valid direction response: 04:02:26.8342 LVL= 14800, 12977, 23778, 27859, AGC= 48, IDX= 498,-0.17, 1.047, 1.000,-0.523, 1.077, PHS= 0.072,-0.032,-1.644, RAW= 33.1, 18.8, CAL= 30.1, 21.7, ROT= 119.9, -21.7 2025-10-27T04:02:28.031Z,1761537748.031 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T04:02:28.032Z,1761537748.032 [DAT](INFO): direction in FSK: [-0.463161,0.805462,0.369747] 2025-10-27T04:02:28.032Z,1761537748.032 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:28.040Z,1761537748.040 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=45.927158 2025-10-27T04:02:28.082Z,1761537748.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:28.085Z,1761537748.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.096064 m, bearing: 265.200183 deg, lat: 36.779374 deg, lon: -121.859542 deg, deltaT: 0.503225 s, deltaX: -0.000092 m, approachRate: -0.000182 m/s, posRepo size: 4 2025-10-27T04:02:28.086Z,1761537748.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m. 2025-10-27T04:02:28.272Z,1761537748.272 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.159069 2025-10-27T04:02:28.384Z,1761537748.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m. 2025-10-27T04:02:28.525Z,1761537748.525 [DAT](INFO): DAT read: Rx Time:04:02:27.3343 2025-10-27T04:02:28.525Z,1761537748.525 [DAT](INFO): Rx dataTimestamp_ set to:1761537748.524735 2025-10-27T04:02:28.526Z,1761537748.526 [DAT](INFO): DAT read: Bearing 67.5, 58.6 (Local) 2025-10-27T04:02:28.527Z,1761537748.527 [DAT](INFO): Local bearing/azimuth received: Bearing 67.5, 58.6 (Local) 2025-10-27T04:02:28.529Z,1761537748.529 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.2 2025-10-27T04:02:28.534Z,1761537748.534 [DAT](INFO): DAT read: 04:02:27.3343 LVL= 13392, 13249, 24050, 26035, AGC= 49, IDX= 499,-0.28, 2.281, 2.224, 0.717, 2.319, PHS= 0.064,-0.051,-1.647, RAW= 33.4, 19.2, CAL= 30.4, 22.3, ROT= 119.6, -22.3 2025-10-27T04:02:28.535Z,1761537748.535 [DAT](INFO): got valid direction response: 04:02:27.3343 LVL= 13392, 13249, 24050, 26035, AGC= 49, IDX= 499,-0.28, 2.281, 2.224, 0.717, 2.319, PHS= 0.064,-0.051,-1.647, RAW= 33.4, 19.2, CAL= 30.4, 22.3, ROT= 119.6, -22.3 2025-10-27T04:02:28.536Z,1761537748.536 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T04:02:28.537Z,1761537748.537 [DAT](INFO): direction in FSK: [-0.457000,0.804465,0.379456] 2025-10-27T04:02:28.537Z,1761537748.537 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:28.541Z,1761537748.541 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.427887 2025-10-27T04:02:28.776Z,1761537748.776 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.662930 2025-10-27T04:02:28.822Z,1761537748.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503966 s, deltaX: 0.099998 m, approachRate: 0.198423 m/s, rangeRepo size: 4 2025-10-27T04:02:28.824Z,1761537748.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.195631 m, bearing: 264.793211 deg, lat: 36.779372 deg, lon: -121.859542 deg, deltaT: 0.503966 s, deltaX: 0.099567 m, approachRate: 0.197568 m/s, posRepo size: 4 2025-10-27T04:02:28.824Z,1761537748.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m. 2025-10-27T04:02:29.028Z,1761537749.028 [DAT](INFO): DAT read: Rx Time:04:02:27.8342 2025-10-27T04:02:29.029Z,1761537749.029 [DAT](INFO): Rx dataTimestamp_ set to:1761537749.028681 2025-10-27T04:02:29.030Z,1761537749.030 [DAT](INFO): DAT read: Bearing 69.4, 59.0 (Local) 2025-10-27T04:02:29.031Z,1761537749.031 [DAT](INFO): Local bearing/azimuth received: Bearing 69.4, 59.0 (Local) 2025-10-27T04:02:29.033Z,1761537749.033 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.2 2025-10-27T04:02:29.037Z,1761537749.037 [DAT](INFO): DAT read: 04:02:27.8342 LVL= 14560, 15825, 23394, 25907, AGC= 50, IDX= 498, 0.40,-2.408,-2.458, 2.312,-2.388, PHS= 0.082,-0.025,-1.627, RAW= 33.2, 18.5, CAL= 30.2, 21.4, ROT= 119.8, -21.4 2025-10-27T04:02:29.038Z,1761537749.038 [DAT](INFO): got valid direction response: 04:02:27.8342 LVL= 14560, 15825, 23394, 25907, AGC= 50, IDX= 498, 0.40,-2.408,-2.458, 2.312,-2.388, PHS= 0.082,-0.025,-1.627, RAW= 33.2, 18.5, CAL= 30.2, 21.4, ROT= 119.8, -21.4 2025-10-27T04:02:29.042Z,1761537749.042 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T04:02:29.046Z,1761537749.046 [DAT](INFO): direction in FSK: [-0.462711,0.807938,0.364877] 2025-10-27T04:02:29.047Z,1761537749.047 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:29.081Z,1761537749.081 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=46.937645 2025-10-27T04:02:29.196Z,1761537749.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503946 s, deltaX: -0.099998 m, approachRate: -0.198431 m/s, rangeRepo size: 4 2025-10-27T04:02:29.198Z,1761537749.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.096062 m, bearing: 265.151721 deg, lat: 36.779373 deg, lon: -121.859542 deg, deltaT: 0.503946 s, deltaX: -0.099569 m, approachRate: -0.197579 m/s, posRepo size: 4 2025-10-27T04:02:29.199Z,1761537749.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m. 2025-10-27T04:02:29.282Z,1761537749.282 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.169296 2025-10-27T04:02:29.540Z,1761537749.540 [DAT](INFO): DAT read: Rx Time:04:02:28.3344 2025-10-27T04:02:29.541Z,1761537749.541 [DAT](INFO): Rx dataTimestamp_ set to:1761537749.540592 2025-10-27T04:02:29.546Z,1761537749.546 [DAT](INFO): DAT read: Bearing 69.9, 59.0 (Local) 2025-10-27T04:02:29.562Z,1761537749.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859688,-0.490386,-0.143035],[0.489260,-0.870956,0.045395],[-0.146839,-0.030956,0.988676]] 2025-10-27T04:02:29.563Z,1761537749.563 [DAT](INFO): Local bearing/azimuth received: Bearing 69.9, 59.0 (Local) 2025-10-27T04:02:29.566Z,1761537749.566 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 2025-10-27T04:02:29.574Z,1761537749.574 [DAT](INFO): DAT read: 04:02:28.3344 LVL= 14528, 14641, 25250, 27299, AGC= 50, IDX= 500, 0.08,-0.727,-0.780,-2.286,-0.710, PHS= 0.085,-0.025,-1.620, RAW= 33.3, 18.4, CAL= 30.3, 21.3, ROT= 119.7, -21.3 2025-10-27T04:02:29.597Z,1761537749.597 [DAT](INFO): got valid direction response: 04:02:28.3344 LVL= 14528, 14641, 25250, 27299, AGC= 50, IDX= 500, 0.08,-0.727,-0.780,-2.286,-0.710, PHS= 0.085,-0.025,-1.620, RAW= 33.3, 18.4, CAL= 30.3, 21.3, ROT= 119.7, -21.3 2025-10-27T04:02:29.598Z,1761537749.598 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T04:02:29.598Z,1761537749.598 [DAT](INFO): direction in FSK: [-0.461614,0.809296,0.363251] 2025-10-27T04:02:29.607Z,1761537749.607 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:29.611Z,1761537749.611 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.497471 2025-10-27T04:02:29.724Z,1761537749.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.511911 s, deltaX: 0.299999 m, approachRate: 0.586038 m/s, rangeRepo size: 4 2025-10-27T04:02:29.726Z,1761537749.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.394772 m, bearing: 266.745765 deg, lat: 36.779374 deg, lon: -121.859544 deg, deltaT: 0.511911 s, deltaX: 0.298710 m, approachRate: 0.583519 m/s, posRepo size: 4 2025-10-27T04:02:29.731Z,1761537749.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.39 m. 2025-10-27T04:02:29.789Z,1761537749.789 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.675564 2025-10-27T04:02:30.022Z,1761537750.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861851,-0.486629,-0.142845],[0.485547,-0.873065,0.044736],[-0.146483,-0.030802,0.988733]] 2025-10-27T04:02:30.041Z,1761537750.041 [DAT](INFO): DAT read: Rx Time:04:02:28.8344 2025-10-27T04:02:30.041Z,1761537750.041 [DAT](INFO): Rx dataTimestamp_ set to:1761537750.040837 2025-10-27T04:02:30.042Z,1761537750.042 [DAT](INFO): DAT read: Bearing 68.3, 58.9 (Local) 2025-10-27T04:02:30.043Z,1761537750.043 [DAT](INFO): Local bearing/azimuth received: Bearing 68.3, 58.9 (Local) 2025-10-27T04:02:30.045Z,1761537750.045 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T04:02:30.050Z,1761537750.050 [DAT](INFO): DAT read: 04:02:28.8344 LVL= 14480, 15265, 24258, 26915, AGC= 51, IDX= 500,-0.35,-2.462,-2.546, 2.258,-2.441, PHS= 0.081,-0.060,-1.628, RAW= 34.3, 19.1, CAL= 31.2, 22.1, ROT= 118.8, -22.1 2025-10-27T04:02:30.051Z,1761537750.051 [DAT](INFO): got valid direction response: 04:02:28.8344 LVL= 14480, 15265, 24258, 26915, AGC= 51, IDX= 500,-0.35,-2.462,-2.546, 2.258,-2.441, PHS= 0.081,-0.060,-1.628, RAW= 34.3, 19.1, CAL= 31.2, 22.1, ROT= 118.8, -22.1 2025-10-27T04:02:30.051Z,1761537750.051 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T04:02:30.052Z,1761537750.052 [DAT](INFO): direction in FSK: [-0.446359,0.811923,0.376224] 2025-10-27T04:02:30.053Z,1761537750.053 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:30.064Z,1761537750.064 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=47.950722 2025-10-27T04:02:30.066Z,1761537750.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.500245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:30.066Z,1761537750.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.39 m. 2025-10-27T04:02:30.292Z,1761537750.292 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.179340 2025-10-27T04:02:30.365Z,1761537750.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863902,-0.482912,-0.143073],[0.481955,-0.875110,0.043610],[-0.146265,-0.031280,0.988751]] 2025-10-27T04:02:30.388Z,1761537750.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.39 m. 2025-10-27T04:02:30.547Z,1761537750.547 [DAT](INFO): DAT read: Rx Time:04:02:29.3345 2025-10-27T04:02:30.548Z,1761537750.548 [DAT](INFO): Rx dataTimestamp_ set to:1761537750.547687 2025-10-27T04:02:30.549Z,1761537750.549 [DAT](INFO): DAT read: Bearing 68.8, 59.1 (Local) 2025-10-27T04:02:30.550Z,1761537750.550 [DAT](INFO): Local bearing/azimuth received: Bearing 68.8, 59.1 (Local) 2025-10-27T04:02:30.552Z,1761537750.552 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T04:02:30.569Z,1761537750.569 [DAT](INFO): DAT read: 04:02:29.3345 LVL= 13760, 13297, 24210, 27027, AGC= 50, IDX= 501,-0.02,-0.097,-0.190,-1.667,-0.086, PHS= 0.091,-0.059,-1.625, RAW= 34.5, 18.9, CAL= 31.4, 21.9, ROT= 118.6, -21.9 2025-10-27T04:02:30.627Z,1761537750.627 [DAT](INFO): got valid direction response: 04:02:29.3345 LVL= 13760, 13297, 24210, 27027, AGC= 50, IDX= 501,-0.02,-0.097,-0.190,-1.667,-0.086, PHS= 0.091,-0.059,-1.625, RAW= 34.5, 18.9, CAL= 31.4, 21.9, ROT= 118.6, -21.9 2025-10-27T04:02:30.628Z,1761537750.628 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T04:02:30.629Z,1761537750.629 [DAT](INFO): direction in FSK: [-0.444148,0.814625,0.372988] 2025-10-27T04:02:30.629Z,1761537750.629 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:30.641Z,1761537750.641 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.528282 2025-10-27T04:02:30.769Z,1761537750.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865808,-0.479360,-0.143492],[0.478547,-0.877037,0.042418],[-0.146181,-0.031941,0.988742]] 2025-10-27T04:02:30.796Z,1761537750.796 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.682854 2025-10-27T04:02:30.829Z,1761537750.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.506850 s, deltaX: 0.100000 m, approachRate: 0.197298 m/s, rangeRepo size: 4 2025-10-27T04:02:30.852Z,1761537750.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.494328 m, bearing: 266.265633 deg, lat: 36.779375 deg, lon: -121.859543 deg, deltaT: 1.007095 s, deltaX: 0.099556 m, approachRate: 0.098855 m/s, posRepo size: 4 2025-10-27T04:02:30.852Z,1761537750.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-10-27T04:02:31.048Z,1761537751.048 [DAT](INFO): DAT read: Rx Time:04:02:29.8344 2025-10-27T04:02:31.049Z,1761537751.049 [DAT](INFO): Rx dataTimestamp_ set to:1761537751.048659 2025-10-27T04:02:31.050Z,1761537751.050 [DAT](INFO): DAT read: Bearing 69.7, 59.5 (Local) 2025-10-27T04:02:31.051Z,1761537751.051 [DAT](INFO): Local bearing/azimuth received: Bearing 69.7, 59.5 (Local) 2025-10-27T04:02:31.053Z,1761537751.053 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T04:02:31.057Z,1761537751.057 [DAT](INFO): DAT read: 04:02:29.8344 LVL= 14752, 15793, 25570, 28483, AGC= 51, IDX= 500, 0.16, 0.480, 0.379,-1.103, 0.476, PHS= 0.107,-0.051,-1.623, RAW= 34.7, 18.5, CAL= 31.5, 21.4, ROT= 118.5, -21.4 2025-10-27T04:02:31.058Z,1761537751.058 [DAT](INFO): got valid direction response: 04:02:29.8344 LVL= 14752, 15793, 25570, 28483, AGC= 51, IDX= 500, 0.16, 0.480, 0.379,-1.103, 0.476, PHS= 0.107,-0.051,-1.623, RAW= 34.7, 18.5, CAL= 31.5, 21.4, ROT= 118.5, -21.4 2025-10-27T04:02:31.060Z,1761537751.060 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T04:02:31.094Z,1761537751.094 [DAT](INFO): direction in FSK: [-0.444261,0.818228,0.364877] 2025-10-27T04:02:31.094Z,1761537751.094 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:31.123Z,1761537751.123 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.985744 2025-10-27T04:02:31.174Z,1761537751.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867621,-0.475883,-0.144112],[0.475252,-0.878893,0.041019],[-0.146180,-0.032900,0.988711]] 2025-10-27T04:02:31.221Z,1761537751.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.500972 s, deltaX: -0.100000 m, approachRate: -0.199613 m/s, rangeRepo size: 4 2025-10-27T04:02:31.228Z,1761537751.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.394756 m, bearing: 266.466897 deg, lat: 36.779375 deg, lon: -121.859544 deg, deltaT: 0.500972 s, deltaX: -0.099571 m, approachRate: -0.198756 m/s, posRepo size: 4 2025-10-27T04:02:31.228Z,1761537751.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.39 m. 2025-10-27T04:02:31.300Z,1761537751.300 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.187038 2025-10-27T04:02:31.556Z,1761537751.556 [DAT](INFO): DAT read: Rx Time:04:02:30.3345 2025-10-27T04:02:31.558Z,1761537751.558 [DAT](INFO): Rx dataTimestamp_ set to:1761537751.556932 2025-10-27T04:02:31.561Z,1761537751.561 [DAT](INFO): DAT read: Bearing 69.5, 59.7 (Local) 2025-10-27T04:02:31.564Z,1761537751.564 [DAT](INFO): Local bearing/azimuth received: Bearing 69.5, 59.7 (Local) 2025-10-27T04:02:31.575Z,1761537751.575 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T04:02:31.584Z,1761537751.584 [DAT](INFO): DAT read: 04:02:30.3345 LVL= 13376, 13937, 23154, 25379, AGC= 50, IDX= 501, 0.30, 2.106, 1.985, 0.506, 2.090, PHS= 0.118,-0.059,-1.628, RAW= 35.3, 18.4, CAL= 32.0, 21.3, ROT= 118.0, -21.3 2025-10-27T04:02:31.586Z,1761537751.586 [DAT](INFO): got valid direction response: 04:02:30.3345 LVL= 13376, 13937, 23154, 25379, AGC= 50, IDX= 501, 0.30, 2.106, 1.985, 0.506, 2.090, PHS= 0.118,-0.059,-1.628, RAW= 35.3, 18.4, CAL= 32.0, 21.3, ROT= 118.0, -21.3 2025-10-27T04:02:31.586Z,1761537751.586 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T04:02:31.603Z,1761537751.603 [DAT](INFO): direction in FSK: [-0.437403,0.822635,0.363251] 2025-10-27T04:02:31.604Z,1761537751.604 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:31.631Z,1761537751.631 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.518234 2025-10-27T04:02:31.642Z,1761537751.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869400,-0.472387,-0.144897],[0.471945,-0.880738,0.039612],[-0.146328,-0.033945,0.988653]] 2025-10-27T04:02:31.762Z,1761537751.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.508273 s, deltaX: 0.100000 m, approachRate: 0.196745 m/s, rangeRepo size: 4 2025-10-27T04:02:31.769Z,1761537751.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.494328 m, bearing: 266.195034 deg, lat: 36.779375 deg, lon: -121.859545 deg, deltaT: 0.508273 s, deltaX: 0.099571 m, approachRate: 0.195901 m/s, posRepo size: 4 2025-10-27T04:02:31.769Z,1761537751.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-10-27T04:02:31.804Z,1761537751.804 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.690956 2025-10-27T04:02:32.039Z,1761537752.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871255,-0.468801,-0.145396],[0.468456,-0.882636,0.038762],[-0.146504,-0.034340,0.988614]] 2025-10-27T04:02:32.057Z,1761537752.057 [DAT](INFO): DAT read: Rx Time:04:02:30.8345 2025-10-27T04:02:32.058Z,1761537752.058 [DAT](INFO): Rx dataTimestamp_ set to:1761537752.057075 2025-10-27T04:02:32.064Z,1761537752.064 [DAT](INFO): DAT read: Bearing 69.1, 59.8 (Local) 2025-10-27T04:02:32.064Z,1761537752.064 [DAT](INFO): Local bearing/azimuth received: Bearing 69.1, 59.8 (Local) 2025-10-27T04:02:32.068Z,1761537752.068 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T04:02:32.088Z,1761537752.088 [DAT](INFO): DAT read: 04:02:30.8345 LVL= 12464, 12593, 23618, 24899, AGC= 49, IDX= 500, 0.46,-0.249,-0.386,-1.840,-0.268, PHS= 0.121,-0.073,-1.616, RAW= 35.8, 18.6, CAL= 32.5, 21.5, ROT= 117.5, -21.5 2025-10-27T04:02:32.090Z,1761537752.090 [DAT](INFO): got valid direction response: 04:02:30.8345 LVL= 12464, 12593, 23618, 24899, AGC= 49, IDX= 500, 0.46,-0.249,-0.386,-1.840,-0.268, PHS= 0.121,-0.073,-1.616, RAW= 35.8, 18.6, CAL= 32.5, 21.5, ROT= 117.5, -21.5 2025-10-27T04:02:32.095Z,1761537752.095 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T04:02:32.096Z,1761537752.096 [DAT](INFO): direction in FSK: [-0.429619,0.825290,0.366501] 2025-10-27T04:02:32.097Z,1761537752.097 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:32.108Z,1761537752.108 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.995438 2025-10-27T04:02:32.114Z,1761537752.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.500143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:32.124Z,1761537752.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.494301 m, bearing: 265.884143 deg, lat: 36.779375 deg, lon: -121.859545 deg, deltaT: 0.500143 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 2025-10-27T04:02:32.125Z,1761537752.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-10-27T04:02:32.308Z,1761537752.308 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.195122 2025-10-27T04:02:32.437Z,1761537752.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873222,-0.465147,-0.145334],[0.464779,-0.884586,0.038584],[-0.146508,-0.033855,0.988630]] 2025-10-27T04:02:32.553Z,1761537752.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-10-27T04:02:32.565Z,1761537752.565 [DAT](INFO): DAT read: Rx Time:04:02:31.3345 2025-10-27T04:02:32.567Z,1761537752.567 [DAT](INFO): Rx dataTimestamp_ set to:1761537752.565596 2025-10-27T04:02:32.572Z,1761537752.572 [DAT](INFO): DAT read: Bearing 69.0, 60.0 (Local) 2025-10-27T04:02:32.573Z,1761537752.573 [DAT](INFO): Local bearing/azimuth received: Bearing 69.0, 60.0 (Local) 2025-10-27T04:02:32.581Z,1761537752.581 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T04:02:32.604Z,1761537752.604 [DAT](INFO): DAT read: 04:02:31.3345 LVL= 12608, 12769, 22770, 24483, AGC= 48, IDX= 501,-0.40,-2.063,-2.215, 2.632,-2.089, PHS= 0.129,-0.080,-1.606, RAW= 36.3, 18.6, CAL= 33.0, 21.5, ROT= 117.0, -21.5 2025-10-27T04:02:32.606Z,1761537752.606 [DAT](INFO): got valid direction response: 04:02:31.3345 LVL= 12608, 12769, 22770, 24483, AGC= 48, IDX= 501,-0.40,-2.063,-2.215, 2.632,-2.089, PHS= 0.129,-0.080,-1.606, RAW= 36.3, 18.6, CAL= 33.0, 21.5, ROT= 117.0, -21.5 2025-10-27T04:02:32.606Z,1761537752.606 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T04:02:32.615Z,1761537752.615 [DAT](INFO): direction in FSK: [-0.422401,0.829008,0.366501] 2025-10-27T04:02:32.616Z,1761537752.616 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:32.632Z,1761537752.632 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.518425 2025-10-27T04:02:32.813Z,1761537752.813 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.699638 2025-10-27T04:02:32.842Z,1761537752.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875086,-0.461633,-0.145324],[0.461237,-0.886443,0.038458],[-0.146575,-0.033375,0.988636]] 2025-10-27T04:02:32.902Z,1761537752.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.508521 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:32.913Z,1761537752.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.494329 m, bearing: 265.857026 deg, lat: 36.779373 deg, lon: -121.859545 deg, deltaT: 0.508521 s, deltaX: 0.000029 m, approachRate: 0.000056 m/s, posRepo size: 4 2025-10-27T04:02:32.913Z,1761537752.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-10-27T04:02:33.066Z,1761537753.066 [DAT](INFO): DAT read: Rx Time:04:02:31.8344 2025-10-27T04:02:33.067Z,1761537753.067 [DAT](INFO): Rx dataTimestamp_ set to:1761537753.066847 2025-10-27T04:02:33.070Z,1761537753.070 [DAT](INFO): DAT read: Bearing 68.9, 60.2 (Local) 2025-10-27T04:02:33.070Z,1761537753.070 [DAT](INFO): Local bearing/azimuth received: Bearing 68.9, 60.2 (Local) 2025-10-27T04:02:33.074Z,1761537753.074 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T04:02:33.081Z,1761537753.081 [DAT](INFO): DAT read: 04:02:31.8344 LVL= 11760, 11697, 22642, 24307, AGC= 48, IDX= 500,-0.33, 2.429, 2.261, 0.829, 2.395, PHS= 0.137,-0.089,-1.610, RAW= 36.8, 18.6, CAL= 33.4, 21.5, ROT= 116.6, -21.5 2025-10-27T04:02:33.083Z,1761537753.083 [DAT](INFO): got valid direction response: 04:02:31.8344 LVL= 11760, 11697, 22642, 24307, AGC= 48, IDX= 500,-0.33, 2.429, 2.261, 0.829, 2.395, PHS= 0.137,-0.089,-1.610, RAW= 36.8, 18.6, CAL= 33.4, 21.5, ROT= 116.6, -21.5 2025-10-27T04:02:33.084Z,1761537753.084 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T04:02:33.085Z,1761537753.085 [DAT](INFO): direction in FSK: [-0.416603,0.831937,0.366501] 2025-10-27T04:02:33.085Z,1761537753.085 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:33.100Z,1761537753.100 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.986534 2025-10-27T04:02:33.246Z,1761537753.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877221,-0.457501,-0.145520],[0.457174,-0.888579,0.037679],[-0.146544,-0.033475,0.988638]] 2025-10-27T04:02:33.284Z,1761537753.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.501251 s, deltaX: -0.100000 m, approachRate: -0.199502 m/s, rangeRepo size: 4 2025-10-27T04:02:33.286Z,1761537753.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.394758 m, bearing: 265.723284 deg, lat: 36.779372 deg, lon: -121.859544 deg, deltaT: 0.501251 s, deltaX: -0.099571 m, approachRate: -0.198645 m/s, posRepo size: 4 2025-10-27T04:02:33.286Z,1761537753.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.39 m. 2025-10-27T04:02:33.317Z,1761537753.317 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.204056 2025-10-27T04:02:33.573Z,1761537753.573 [DAT](INFO): DAT read: Rx Time:04:02:32.3345 2025-10-27T04:02:33.575Z,1761537753.575 [DAT](INFO): Rx dataTimestamp_ set to:1761537753.573841 2025-10-27T04:02:33.579Z,1761537753.579 [DAT](INFO): DAT read: Bearing 68.6, 60.3 (Local) 2025-10-27T04:02:33.580Z,1761537753.580 [DAT](INFO): Local bearing/azimuth received: Bearing 68.6, 60.3 (Local) 2025-10-27T04:02:33.588Z,1761537753.588 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T04:02:33.603Z,1761537753.603 [DAT](INFO): DAT read: 04:02:32.3345 LVL= 11696, 12161, 22482, 23763, AGC= 48, IDX= 501,-0.28, 3.127, 2.942, 1.522, 3.088, PHS= 0.141,-0.101,-1.610, RAW= 37.3, 18.7, CAL= 33.8, 21.6, ROT= 116.2, -21.6 2025-10-27T04:02:33.606Z,1761537753.606 [DAT](INFO): got valid direction response: 04:02:32.3345 LVL= 11696, 12161, 22482, 23763, AGC= 48, IDX= 501,-0.28, 3.127, 2.942, 1.522, 3.088, PHS= 0.141,-0.101,-1.610, RAW= 37.3, 18.7, CAL= 33.8, 21.6, ROT= 116.2, -21.6 2025-10-27T04:02:33.607Z,1761537753.607 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T04:02:33.608Z,1761537753.608 [DAT](INFO): direction in FSK: [-0.410502,0.834250,0.368125] 2025-10-27T04:02:33.608Z,1761537753.608 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:33.612Z,1761537753.612 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.499222 2025-10-27T04:02:33.665Z,1761537753.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879322,-0.453432,-0.145577],[0.453095,-0.890677,0.037400],[-0.146620,-0.033074,0.988640]] 2025-10-27T04:02:33.791Z,1761537753.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.506994 s, deltaX: 0.100000 m, approachRate: 0.197242 m/s, rangeRepo size: 4 2025-10-27T04:02:33.793Z,1761537753.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.494329 m, bearing: 265.570376 deg, lat: 36.779371 deg, lon: -121.859544 deg, deltaT: 0.506994 s, deltaX: 0.099571 m, approachRate: 0.196395 m/s, posRepo size: 4 2025-10-27T04:02:33.794Z,1761537753.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-10-27T04:02:33.820Z,1761537753.820 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.707054 2025-10-27T04:02:34.063Z,1761537754.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881470,-0.449290,-0.145427],[0.448901,-0.892800,0.037362],[-0.146623,-0.032349,0.988663]] 2025-10-27T04:02:34.073Z,1761537754.073 [DAT](INFO): DAT read: Rx Time:04:02:32.8344 2025-10-27T04:02:34.074Z,1761537754.074 [DAT](INFO): Rx dataTimestamp_ set to:1761537754.073896 2025-10-27T04:02:34.079Z,1761537754.079 [DAT](INFO): DAT read: Bearing 68.8, 60.6 (Local) 2025-10-27T04:02:34.079Z,1761537754.079 [DAT](INFO): Local bearing/azimuth received: Bearing 68.8, 60.6 (Local) 2025-10-27T04:02:34.082Z,1761537754.082 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T04:02:34.090Z,1761537754.090 [DAT](INFO): DAT read: 04:02:32.8344 LVL= 13568, 13905, 23186, 25779, AGC= 48, IDX= 500,-0.19, 1.381, 1.186,-0.231, 1.333, PHS= 0.151,-0.102,-1.607, RAW= 37.6, 18.5, CAL= 34.1, 21.4, ROT= 115.9, -21.4 2025-10-27T04:02:34.095Z,1761537754.095 [DAT](INFO): got valid direction response: 04:02:32.8344 LVL= 13568, 13905, 23186, 25779, AGC= 48, IDX= 500,-0.19, 1.381, 1.186,-0.231, 1.333, PHS= 0.151,-0.102,-1.607, RAW= 37.6, 18.5, CAL= 34.1, 21.4, ROT= 115.9, -21.4 2025-10-27T04:02:34.096Z,1761537754.096 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T04:02:34.097Z,1761537754.097 [DAT](INFO): direction in FSK: [-0.406687,0.837538,0.364877] 2025-10-27T04:02:34.097Z,1761537754.097 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:34.105Z,1761537754.105 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.991848 2025-10-27T04:02:34.176Z,1761537754.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.500055 s, deltaX: -0.100000 m, approachRate: -0.199979 m/s, rangeRepo size: 4 2025-10-27T04:02:34.178Z,1761537754.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.394743 m, bearing: 265.578675 deg, lat: 36.779370 deg, lon: -121.859543 deg, deltaT: 0.500055 s, deltaX: -0.099586 m, approachRate: -0.199151 m/s, posRepo size: 4 2025-10-27T04:02:34.178Z,1761537754.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.39 m. 2025-10-27T04:02:34.324Z,1761537754.324 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.211205 2025-10-27T04:02:34.514Z,1761537754.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886415,-0.439329,-0.145805],[0.439108,-0.897735,0.035453],[-0.146469,-0.032598,0.988678]] 2025-10-27T04:02:34.536Z,1761537754.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.39 m. 2025-10-27T04:02:34.582Z,1761537754.582 [DAT](INFO): DAT read: Rx Time:04:02:33.3345 2025-10-27T04:02:34.584Z,1761537754.584 [DAT](INFO): Rx dataTimestamp_ set to:1761537754.582193 2025-10-27T04:02:34.589Z,1761537754.589 [DAT](INFO): DAT read: Bearing 67.6, 60.7 (Local) 2025-10-27T04:02:34.590Z,1761537754.590 [DAT](INFO): Local bearing/azimuth received: Bearing 67.6, 60.7 (Local) 2025-10-27T04:02:34.608Z,1761537754.608 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T04:02:34.621Z,1761537754.621 [DAT](INFO): DAT read: 04:02:33.3345 LVL= 13648, 12529, 22050, 24115, AGC= 48, IDX= 501,-0.06, 3.132, 2.909, 1.509, 3.080, PHS= 0.153,-0.126,-1.615, RAW= 38.4, 18.8, CAL= 34.8, 21.8, ROT= 115.2, -21.8 2025-10-27T04:02:34.622Z,1761537754.622 [DAT](INFO): got valid direction response: 04:02:33.3345 LVL= 13648, 12529, 22050, 24115, AGC= 48, IDX= 501,-0.06, 3.132, 2.909, 1.509, 3.080, PHS= 0.153,-0.126,-1.615, RAW= 38.4, 18.8, CAL= 34.8, 21.8, ROT= 115.2, -21.8 2025-10-27T04:02:34.622Z,1761537754.622 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T04:02:34.630Z,1761537754.630 [DAT](INFO): direction in FSK: [-0.395330,0.840119,0.371368] 2025-10-27T04:02:34.630Z,1761537754.630 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:34.634Z,1761537754.634 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.520832 2025-10-27T04:02:34.828Z,1761537754.828 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.714760 2025-10-27T04:02:34.916Z,1761537754.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.508297 s, deltaX: 0.100000 m, approachRate: 0.196736 m/s, rangeRepo size: 4 2025-10-27T04:02:34.918Z,1761537754.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.494453 m, bearing: 265.448550 deg, lat: 36.779369 deg, lon: -121.859543 deg, deltaT: 0.508297 s, deltaX: 0.099710 m, approachRate: 0.196166 m/s, posRepo size: 4 2025-10-27T04:02:34.919Z,1761537754.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-10-27T04:02:35.082Z,1761537755.082 [DAT](INFO): DAT read: Rx Time:04:02:33.8344 2025-10-27T04:02:35.082Z,1761537755.082 [DAT](INFO): Rx dataTimestamp_ set to:1761537755.082110 2025-10-27T04:02:35.085Z,1761537755.085 [DAT](INFO): DAT read: Bearing 69.1, 61.0 (Local) 2025-10-27T04:02:35.085Z,1761537755.085 [DAT](INFO): Local bearing/azimuth received: Bearing 69.1, 61.0 (Local) 2025-10-27T04:02:35.089Z,1761537755.089 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 2025-10-27T04:02:35.099Z,1761537755.099 [DAT](INFO): DAT read: 04:02:33.8344 LVL= 12064, 12369, 22178, 24339, AGC= 49, IDX= 500, 0.19,-1.889,-2.104, 2.764,-1.952, PHS= 0.165,-0.107,-1.611, RAW= 38.2, 18.3, CAL= 34.6, 21.2, ROT= 115.4, -21.2 2025-10-27T04:02:35.100Z,1761537755.100 [DAT](INFO): got valid direction response: 04:02:33.8344 LVL= 12064, 12369, 22178, 24339, AGC= 49, IDX= 500, 0.19,-1.889,-2.104, 2.764,-1.952, PHS= 0.165,-0.107,-1.611, RAW= 38.2, 18.3, CAL= 34.6, 21.2, ROT= 115.4, -21.2 2025-10-27T04:02:35.101Z,1761537755.101 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T04:02:35.102Z,1761537755.102 [DAT](INFO): direction in FSK: [-0.399907,0.842201,0.361625] 2025-10-27T04:02:35.102Z,1761537755.102 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:35.110Z,1761537755.110 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.996513 2025-10-27T04:02:35.272Z,1761537755.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891662,-0.428613,-0.145702],[0.428537,-0.902902,0.033530],[-0.145926,-0.032542,0.988760]] 2025-10-27T04:02:35.295Z,1761537755.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.499917 s, deltaX: -0.100000 m, approachRate: -0.200034 m/s, rangeRepo size: 4 2025-10-27T04:02:35.297Z,1761537755.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.394882 m, bearing: 266.448096 deg, lat: 36.779369 deg, lon: -121.859542 deg, deltaT: 0.499917 s, deltaX: -0.099571 m, approachRate: -0.199176 m/s, posRepo size: 4 2025-10-27T04:02:35.298Z,1761537755.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.39 m. 2025-10-27T04:02:35.332Z,1761537755.332 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.219166 2025-10-27T04:02:35.589Z,1761537755.589 [DAT](INFO): DAT read: Rx Time:04:02:34.3346 2025-10-27T04:02:35.591Z,1761537755.591 [DAT](INFO): Rx dataTimestamp_ set to:1761537755.590018 2025-10-27T04:02:35.595Z,1761537755.595 [DAT](INFO): DAT read: Bearing 68.1, 60.8 (Local) 2025-10-27T04:02:35.596Z,1761537755.596 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 60.8 (Local) 2025-10-27T04:02:35.603Z,1761537755.603 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 2025-10-27T04:02:35.617Z,1761537755.617 [DAT](INFO): DAT read: 04:02:34.3346 LVL= 14464, 16497, 21586, 23619, AGC= 50, IDX= 502,-0.21,-2.876,-3.106, 1.790,-2.933, PHS= 0.158,-0.128,-1.605, RAW= 38.7, 18.8, CAL= 35.1, 21.7, ROT= 114.9, -21.7 2025-10-27T04:02:35.624Z,1761537755.624 [DAT](INFO): got valid direction response: 04:02:34.3346 LVL= 14464, 16497, 21586, 23619, AGC= 50, IDX= 502,-0.21,-2.876,-3.106, 1.790,-2.933, PHS= 0.158,-0.128,-1.605, RAW= 38.7, 18.8, CAL= 35.1, 21.7, ROT= 114.9, -21.7 2025-10-27T04:02:35.625Z,1761537755.625 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T04:02:35.640Z,1761537755.640 [DAT](INFO): direction in FSK: [-0.391198,0.842764,0.369747] 2025-10-27T04:02:35.641Z,1761537755.641 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:35.652Z,1761537755.652 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.539371 2025-10-27T04:02:35.688Z,1761537755.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894245,-0.423137,-0.145880],[0.423180,-0.905470,0.032291],[-0.145753,-0.032857,0.988775]] 2025-10-27T04:02:35.788Z,1761537755.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.507908 s, deltaX: 0.299999 m, approachRate: 0.590657 m/s, rangeRepo size: 4 2025-10-27T04:02:35.790Z,1761537755.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.693594 m, bearing: 266.210653 deg, lat: 36.779369 deg, lon: -121.859542 deg, deltaT: 0.507908 s, deltaX: 0.298712 m, approachRate: 0.588122 m/s, posRepo size: 4 2025-10-27T04:02:35.799Z,1761537755.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.69 m. 2025-10-27T04:02:35.836Z,1761537755.836 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.723160 2025-10-27T04:02:36.090Z,1761537756.090 [DAT](INFO): DAT read: Rx Time:04:02:34.8345 2025-10-27T04:02:36.091Z,1761537756.091 [DAT](INFO): Rx dataTimestamp_ set to:1761537756.090224 2025-10-27T04:02:36.092Z,1761537756.092 [DAT](INFO): DAT read: Bearing 69.5, 61.2 (Local) 2025-10-27T04:02:36.093Z,1761537756.093 [DAT](INFO): Local bearing/azimuth received: Bearing 69.5, 61.2 (Local) 2025-10-27T04:02:36.095Z,1761537756.095 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.2 2025-10-27T04:02:36.117Z,1761537756.117 [DAT](INFO): DAT read: 04:02:34.8345 LVL= 13936, 14865, 23442, 26867, AGC= 50, IDX= 501, 0.35,-2.473,-2.699, 2.178,-2.541, PHS= 0.170,-0.113,-1.608, RAW= 38.5, 18.3, CAL= 34.9, 21.2, ROT= 115.1, -21.2 2025-10-27T04:02:36.118Z,1761537756.118 [DAT](INFO): got valid direction response: 04:02:34.8345 LVL= 13936, 14865, 23442, 26867, AGC= 50, IDX= 501, 0.35,-2.473,-2.699, 2.178,-2.541, PHS= 0.170,-0.113,-1.608, RAW= 38.5, 18.3, CAL= 34.9, 21.2, ROT= 115.1, -21.2 2025-10-27T04:02:36.118Z,1761537756.118 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T04:02:36.128Z,1761537756.128 [DAT](INFO): direction in FSK: [-0.395491,0.844283,0.361625] 2025-10-27T04:02:36.128Z,1761537756.128 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:36.128Z,1761537756.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897036,-0.417161,-0.145958],[0.417352,-0.908223,0.030798],[-0.145410,-0.033289,0.988811]] 2025-10-27T04:02:36.141Z,1761537756.141 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.028370 2025-10-27T04:02:36.190Z,1761537756.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.500206 s, deltaX: -0.199999 m, approachRate: -0.399833 m/s, rangeRepo size: 4 2025-10-27T04:02:36.192Z,1761537756.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.494476 m, bearing: 266.878265 deg, lat: 36.779369 deg, lon: -121.859542 deg, deltaT: 0.500206 s, deltaX: -0.199118 m, approachRate: -0.398071 m/s, posRepo size: 4 2025-10-27T04:02:36.193Z,1761537756.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.49 m. 2025-10-27T04:02:36.345Z,1761537756.345 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.231441 2025-10-27T04:02:36.604Z,1761537756.604 [DAT](INFO): DAT read: Rx Time:04:02:35.3347 2025-10-27T04:02:36.606Z,1761537756.606 [DAT](INFO): Rx dataTimestamp_ set to:1761537756.604791 2025-10-27T04:02:36.610Z,1761537756.610 [DAT](INFO): DAT read: Bearing 68.8, 61.2 (Local) 2025-10-27T04:02:36.611Z,1761537756.611 [DAT](INFO): Local bearing/azimuth received: Bearing 68.8, 61.2 (Local) 2025-10-27T04:02:36.621Z,1761537756.621 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.2 2025-10-27T04:02:36.646Z,1761537756.646 [DAT](INFO): DAT read: 04:02:35.3347 LVL= 15536, 18049, 23058, 26899, AGC= 51, IDX= 503, 0.15,-1.789,-2.031, 2.857,-1.856, PHS= 0.169,-0.130,-1.615, RAW= 39.0, 18.6, CAL= 35.3, 21.6, ROT= 114.7, -21.6 2025-10-27T04:02:36.655Z,1761537756.655 [DAT](INFO): got valid direction response: 04:02:35.3347 LVL= 15536, 18049, 23058, 26899, AGC= 51, IDX= 503, 0.15,-1.789,-2.031, 2.857,-1.856, PHS= 0.169,-0.130,-1.615, RAW= 39.0, 18.6, CAL= 35.3, 21.6, ROT= 114.7, -21.6 2025-10-27T04:02:36.656Z,1761537756.656 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T04:02:36.658Z,1761537756.658 [DAT](INFO): direction in FSK: [-0.388523,0.844710,0.368125] 2025-10-27T04:02:36.659Z,1761537756.659 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:36.686Z,1761537756.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899816,-0.411207,-0.145737],[0.411501,-0.910930,0.029548],[-0.144907,-0.033383,0.988882]] 2025-10-27T04:02:36.687Z,1761537756.687 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.549610 2025-10-27T04:02:36.817Z,1761537756.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.514567 s, deltaX: 0.299999 m, approachRate: 0.583013 m/s, rangeRepo size: 4 2025-10-27T04:02:36.823Z,1761537756.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.793188 m, bearing: 266.796852 deg, lat: 36.779369 deg, lon: -121.859541 deg, deltaT: 0.514567 s, deltaX: 0.298712 m, approachRate: 0.580511 m/s, posRepo size: 4 2025-10-27T04:02:36.823Z,1761537756.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.79 m. 2025-10-27T04:02:36.852Z,1761537756.852 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.739006 2025-10-27T04:02:37.091Z,1761537757.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902479,-0.405375,-0.145609],[0.405745,-0.913542,0.028504],[-0.144574,-0.033356,0.988932]] 2025-10-27T04:02:37.105Z,1761537757.105 [DAT](INFO): DAT read: Rx Time:04:02:35.8347 2025-10-27T04:02:37.105Z,1761537757.105 [DAT](INFO): Rx dataTimestamp_ set to:1761537757.104781 2025-10-27T04:02:37.106Z,1761537757.106 [DAT](INFO): DAT read: Bearing 69.1, 61.3 (Local) 2025-10-27T04:02:37.107Z,1761537757.107 [DAT](INFO): Local bearing/azimuth received: Bearing 69.1, 61.3 (Local) 2025-10-27T04:02:37.109Z,1761537757.109 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.3 2025-10-27T04:02:37.118Z,1761537757.118 [DAT](INFO): DAT read: 04:02:35.8347 LVL= 12848, 13873, 20626, 23795, AGC= 50, IDX= 503, 0.08, 2.664, 2.419, 1.026, 2.595, PHS= 0.171,-0.131,-1.614, RAW= 39.1, 18.6, CAL= 35.4, 21.5, ROT= 114.6, -21.5 2025-10-27T04:02:37.119Z,1761537757.119 [DAT](INFO): got valid direction response: 04:02:35.8347 LVL= 12848, 13873, 20626, 23795, AGC= 50, IDX= 503, 0.08, 2.664, 2.419, 1.026, 2.595, PHS= 0.171,-0.131,-1.614, RAW= 39.1, 18.6, CAL= 35.4, 21.5, ROT= 114.6, -21.5 2025-10-27T04:02:37.119Z,1761537757.119 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T04:02:37.120Z,1761537757.120 [DAT](INFO): direction in FSK: [-0.387315,0.845969,0.366501] 2025-10-27T04:02:37.120Z,1761537757.120 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:37.137Z,1761537757.137 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.023502 2025-10-27T04:02:37.143Z,1761537757.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.499990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:37.149Z,1761537757.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.793272 m, bearing: 267.089086 deg, lat: 36.779370 deg, lon: -121.859541 deg, deltaT: 0.499990 s, deltaX: 0.000084 m, approachRate: 0.000168 m/s, posRepo size: 4 2025-10-27T04:02:37.149Z,1761537757.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.79 m. 2025-10-27T04:02:37.356Z,1761537757.356 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.243031 2025-10-27T04:02:37.506Z,1761537757.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905132,-0.399505,-0.145365],[0.399950,-0.916126,0.027443],[-0.144136,-0.033299,0.988997]] 2025-10-27T04:02:37.544Z,1761537757.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.79 m. 2025-10-27T04:02:37.613Z,1761537757.613 [DAT](INFO): DAT read: Rx Time:04:02:36.3349 2025-10-27T04:02:37.614Z,1761537757.614 [DAT](INFO): Rx dataTimestamp_ set to:1761537757.613178 2025-10-27T04:02:37.621Z,1761537757.621 [DAT](INFO): DAT read: Bearing 69.7, 61.7 (Local) 2025-10-27T04:02:37.622Z,1761537757.622 [DAT](INFO): Local bearing/azimuth received: Bearing 69.7, 61.7 (Local) 2025-10-27T04:02:37.673Z,1761537757.673 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.3 2025-10-27T04:02:37.681Z,1761537757.681 [DAT](INFO): DAT read: 04:02:36.3349 LVL= 12896, 14065, 20866, 23715, AGC= 50, IDX= 505, 0.10,-2.759,-3.009, 1.883,-2.839, PHS= 0.182,-0.125,-1.605, RAW= 39.2, 18.3, CAL= 35.5, 21.2, ROT= 114.5, -21.2 2025-10-27T04:02:37.683Z,1761537757.683 [DAT](INFO): got valid direction response: 04:02:36.3349 LVL= 12896, 14065, 20866, 23715, AGC= 50, IDX= 505, 0.10,-2.759,-3.009, 1.883,-2.839, PHS= 0.182,-0.125,-1.605, RAW= 39.2, 18.3, CAL= 35.5, 21.2, ROT= 114.5, -21.2 2025-10-27T04:02:37.688Z,1761537757.688 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T04:02:37.689Z,1761537757.689 [DAT](INFO): direction in FSK: [-0.386628,0.848379,0.361625] 2025-10-27T04:02:37.689Z,1761537757.689 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:37.704Z,1761537757.704 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.591354 2025-10-27T04:02:37.861Z,1761537757.861 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.747517 2025-10-27T04:02:37.876Z,1761537757.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907612,-0.393958,-0.145043],[0.394440,-0.918535,0.026654],[-0.143728,-0.033019,0.989066]] 2025-10-27T04:02:37.960Z,1761537757.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.508397 s, deltaX: 0.200001 m, approachRate: 0.393395 m/s, rangeRepo size: 4 2025-10-27T04:02:37.983Z,1761537757.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.992392 m, bearing: 267.778671 deg, lat: 36.779370 deg, lon: -121.859541 deg, deltaT: 0.508397 s, deltaX: 0.199120 m, approachRate: 0.391662 m/s, posRepo size: 4 2025-10-27T04:02:37.985Z,1761537757.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m. 2025-10-27T04:02:38.114Z,1761537758.114 [DAT](INFO): DAT read: Rx Time:04:02:36.8349 2025-10-27T04:02:38.115Z,1761537758.115 [DAT](INFO): Rx dataTimestamp_ set to:1761537758.114388 2025-10-27T04:02:38.117Z,1761537758.117 [DAT](INFO): DAT read: Bearing 70.0, 62.1 (Local) 2025-10-27T04:02:38.117Z,1761537758.117 [DAT](INFO): Local bearing/azimuth received: Bearing 70.0, 62.1 (Local) 2025-10-27T04:02:38.120Z,1761537758.120 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.3 2025-10-27T04:02:38.125Z,1761537758.125 [DAT](INFO): DAT read: 04:02:36.8349 LVL= 13008, 12481, 22674, 23091, AGC= 49, IDX= 505, 0.20, 1.135, 0.877,-0.515, 1.047, PHS= 0.190,-0.125,-1.606, RAW= 39.5, 18.2, CAL= 35.7, 21.0, ROT= 114.3, -21.0 2025-10-27T04:02:38.126Z,1761537758.126 [DAT](INFO): got valid direction response: 04:02:36.8349 LVL= 13008, 12481, 22674, 23091, AGC= 49, IDX= 505, 0.20, 1.135, 0.877,-0.515, 1.047, PHS= 0.190,-0.125,-1.606, RAW= 39.5, 18.2, CAL= 35.7, 21.0, ROT= 114.3, -21.0 2025-10-27T04:02:38.126Z,1761537758.126 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T04:02:38.127Z,1761537758.127 [DAT](INFO): direction in FSK: [-0.384182,0.850868,0.358368] 2025-10-27T04:02:38.127Z,1761537758.127 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:38.131Z,1761537758.131 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.018108 2025-10-27T04:02:38.277Z,1761537758.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909923,-0.388678,-0.144805],[0.389199,-0.920790,0.025895],[-0.143400,-0.032795,0.989121]] 2025-10-27T04:02:38.325Z,1761537758.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.501210 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:38.327Z,1761537758.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.992392 m, bearing: 267.952008 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.501210 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:38.328Z,1761537758.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m. 2025-10-27T04:02:38.364Z,1761537758.364 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.251099 2025-10-27T04:02:38.620Z,1761537758.620 [DAT](INFO): DAT read: Rx Time:04:02:37.3350 2025-10-27T04:02:38.622Z,1761537758.622 [DAT](INFO): Rx dataTimestamp_ set to:1761537758.620879 2025-10-27T04:02:38.626Z,1761537758.626 [DAT](INFO): DAT read: Bearing 70.7, 62.2 (Local) 2025-10-27T04:02:38.627Z,1761537758.627 [DAT](INFO): Local bearing/azimuth received: Bearing 70.7, 62.2 (Local) 2025-10-27T04:02:38.633Z,1761537758.633 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.3 2025-10-27T04:02:38.692Z,1761537758.692 [DAT](INFO): DAT read: 04:02:37.3350 LVL= 12480, 12433, 23330, 24019, AGC= 48, IDX= 506, 0.29, 0.871, 0.616,-0.774, 0.781, PHS= 0.192,-0.120,-1.599, RAW= 39.4, 18.0, CAL= 35.6, 20.9, ROT= 114.4, -20.9 2025-10-27T04:02:38.693Z,1761537758.693 [DAT](INFO): got valid direction response: 04:02:37.3350 LVL= 12480, 12433, 23330, 24019, AGC= 48, IDX= 506, 0.29, 0.871, 0.616,-0.774, 0.781, PHS= 0.192,-0.120,-1.599, RAW= 39.4, 18.0, CAL= 35.6, 20.9, ROT= 114.4, -20.9 2025-10-27T04:02:38.694Z,1761537758.694 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T04:02:38.713Z,1761537758.713 [DAT](INFO): direction in FSK: [-0.385924,0.850765,0.356738] 2025-10-27T04:02:38.713Z,1761537758.713 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:38.723Z,1761537758.723 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.609333 2025-10-27T04:02:38.747Z,1761537758.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912265,-0.383135,-0.144847],[0.383833,-0.923085,0.024227],[-0.142988,-0.033495,0.989157]] 2025-10-27T04:02:38.837Z,1761537758.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.506491 s, deltaX: 0.100000 m, approachRate: 0.197438 m/s, rangeRepo size: 4 2025-10-27T04:02:38.843Z,1761537758.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.091944 m, bearing: 268.416514 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.506491 s, deltaX: 0.099552 m, approachRate: 0.196553 m/s, posRepo size: 4 2025-10-27T04:02:38.843Z,1761537758.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.09 m. 2025-10-27T04:02:38.871Z,1761537758.871 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.758057 2025-10-27T04:02:39.121Z,1761537759.121 [DAT](INFO): DAT read: Rx Time:04:02:37.8350 2025-10-27T04:02:39.121Z,1761537759.121 [DAT](INFO): Rx dataTimestamp_ set to:1761537759.120801 2025-10-27T04:02:39.122Z,1761537759.122 [DAT](INFO): DAT read: Bearing 71.0, 62.3 (Local) 2025-10-27T04:02:39.123Z,1761537759.123 [DAT](INFO): Local bearing/azimuth received: Bearing 71.0, 62.3 (Local) 2025-10-27T04:02:39.125Z,1761537759.125 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.3 2025-10-27T04:02:39.129Z,1761537759.129 [DAT](INFO): DAT read: 04:02:37.8350 LVL= 13376, 12529, 22770, 25027, AGC= 48, IDX= 506, 0.34,-0.653,-0.909,-2.291,-0.743, PHS= 0.192,-0.121,-1.592, RAW= 39.5, 18.0, CAL= 35.7, 20.9, ROT= 114.3, -20.9 2025-10-27T04:02:39.131Z,1761537759.131 [DAT](INFO): got valid direction response: 04:02:37.8350 LVL= 13376, 12529, 22770, 25027, AGC= 48, IDX= 506, 0.34,-0.653,-0.909,-2.291,-0.743, PHS= 0.192,-0.121,-1.592, RAW= 39.5, 18.0, CAL= 35.7, 20.9, ROT= 114.3, -20.9 2025-10-27T04:02:39.131Z,1761537759.131 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T04:02:39.132Z,1761537759.132 [DAT](INFO): direction in FSK: [-0.384439,0.851437,0.356738] 2025-10-27T04:02:39.132Z,1761537759.132 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:39.140Z,1761537759.140 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:02:39.140Z,1761537759.140 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:02:39.140Z,1761537759.140 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:39.144Z,1761537759.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914266,-0.378262,-0.145037],[0.379143,-0.925062,0.022603],[-0.142718,-0.034324,0.989168]] 2025-10-27T04:02:39.238Z,1761537759.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.499922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:39.244Z,1761537759.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.091944 m, bearing: 268.617781 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.499922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:39.245Z,1761537759.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.09 m. 2025-10-27T04:02:39.372Z,1761537759.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:39.534Z,1761537759.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916180,-0.373534,-0.145213],[0.374601,-0.926949,0.020969],[-0.142438,-0.035186,0.989178]] 2025-10-27T04:02:39.579Z,1761537759.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.09 m. 2025-10-27T04:02:39.625Z,1761537759.625 [DAT](INFO): DAT read: Rx Time:04:02:38.3352 2025-10-27T04:02:39.625Z,1761537759.625 [DAT](INFO): Rx dataTimestamp_ set to:1761537759.624810 2025-10-27T04:02:39.626Z,1761537759.626 [DAT](INFO): DAT read: Bearing 70.6, 62.3 (Local) 2025-10-27T04:02:39.627Z,1761537759.627 [DAT](INFO): Local bearing/azimuth received: Bearing 70.6, 62.3 (Local) 2025-10-27T04:02:39.629Z,1761537759.629 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.2 2025-10-27T04:02:39.653Z,1761537759.653 [DAT](INFO): DAT read: 04:02:38.3352 LVL= 12448, 13281, 21938, 23539, AGC= 49, IDX= 508, 0.27, 1.185, 0.916,-0.463, 1.093, PHS= 0.195,-0.132,-1.600, RAW= 39.8, 18.2, CAL= 36.0, 21.0, ROT= 114.0, -21.0 2025-10-27T04:02:39.662Z,1761537759.662 [DAT](INFO): got valid direction response: 04:02:38.3352 LVL= 12448, 13281, 21938, 23539, AGC= 49, IDX= 508, 0.27, 1.185, 0.916,-0.463, 1.093, PHS= 0.195,-0.132,-1.600, RAW= 39.8, 18.2, CAL= 36.0, 21.0, ROT= 114.0, -21.0 2025-10-27T04:02:39.668Z,1761537759.668 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:39.677Z,1761537759.677 [DAT](INFO): direction in FSK: [-0.379721,0.852868,0.358368] 2025-10-27T04:02:39.678Z,1761537759.678 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:39.706Z,1761537759.706 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:39.706Z,1761537759.706 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:39.876Z,1761537759.876 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:40.025Z,1761537760.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504009 s, deltaX: 0.299999 m, approachRate: 0.595226 m/s, rangeRepo size: 4 2025-10-27T04:02:40.028Z,1761537760.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.390688 m, bearing: 268.593306 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.504009 s, deltaX: 0.298744 m, approachRate: 0.592736 m/s, posRepo size: 4 2025-10-27T04:02:40.029Z,1761537760.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m. 2025-10-27T04:02:40.129Z,1761537760.129 [DAT](INFO): DAT read: Rx Time:04:02:38.8352 2025-10-27T04:02:40.129Z,1761537760.129 [DAT](INFO): Rx dataTimestamp_ set to:1761537760.128815 2025-10-27T04:02:40.130Z,1761537760.130 [DAT](INFO): DAT read: Bearing 70.9, 62.4 (Local) 2025-10-27T04:02:40.131Z,1761537760.131 [DAT](INFO): Local bearing/azimuth received: Bearing 70.9, 62.4 (Local) 2025-10-27T04:02:40.133Z,1761537760.133 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.2 2025-10-27T04:02:40.138Z,1761537760.138 [DAT](INFO): DAT read: 04:02:38.8352 LVL= 12624, 11489, 20194, 22835, AGC= 49, IDX= 508, 0.17, 0.805, 0.534,-0.845, 0.710, PHS= 0.198,-0.131,-1.599, RAW= 39.9, 18.1, CAL= 36.1, 20.9, ROT= 113.9, -20.9 2025-10-27T04:02:40.139Z,1761537760.139 [DAT](INFO): got valid direction response: 04:02:38.8352 LVL= 12624, 11489, 20194, 22835, AGC= 49, IDX= 508, 0.17, 0.805, 0.534,-0.845, 0.710, PHS= 0.198,-0.131,-1.599, RAW= 39.9, 18.1, CAL= 36.1, 20.9, ROT= 113.9, -20.9 2025-10-27T04:02:40.140Z,1761537760.140 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:40.141Z,1761537760.141 [DAT](INFO): direction in FSK: [-0.378485,0.854100,0.356738] 2025-10-27T04:02:40.141Z,1761537760.141 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:40.144Z,1761537760.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:40.145Z,1761537760.145 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:40.330Z,1761537760.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919424,-0.365318,-0.145609],[0.366602,-0.930186,0.018894],[-0.142346,-0.036009,0.989162]] 2025-10-27T04:02:40.370Z,1761537760.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504005 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:40.372Z,1761537760.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.390688 m, bearing: 269.012221 deg, lat: 36.779372 deg, lon: -121.859541 deg, deltaT: 0.504005 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:40.372Z,1761537760.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.39 m. 2025-10-27T04:02:40.380Z,1761537760.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:40.636Z,1761537760.636 [DAT](INFO): DAT read: Rx Time:04:02:39.3354 2025-10-27T04:02:40.638Z,1761537760.638 [DAT](INFO): Rx dataTimestamp_ set to:1761537760.636957 2025-10-27T04:02:40.642Z,1761537760.642 [DAT](INFO): DAT read: Bearing 70.5, 62.4 (Local) 2025-10-27T04:02:40.643Z,1761537760.643 [DAT](INFO): Local bearing/azimuth received: Bearing 70.5, 62.4 (Local) 2025-10-27T04:02:40.650Z,1761537760.650 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.2 2025-10-27T04:02:40.701Z,1761537760.701 [DAT](INFO): DAT read: 04:02:39.3354 LVL= 12880, 13105, 22690, 23507, AGC= 49, IDX= 510, 0.01, 1.819, 1.541, 0.175, 1.725, PHS= 0.195,-0.139,-1.595, RAW= 40.1, 18.3, CAL= 36.3, 21.1, ROT= 113.7, -21.1 2025-10-27T04:02:40.703Z,1761537760.703 [DAT](INFO): got valid direction response: 04:02:39.3354 LVL= 12880, 13105, 22690, 23507, AGC= 49, IDX= 510, 0.01, 1.819, 1.541, 0.175, 1.725, PHS= 0.195,-0.139,-1.595, RAW= 40.1, 18.3, CAL= 36.3, 21.1, ROT= 113.7, -21.1 2025-10-27T04:02:40.704Z,1761537760.704 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:40.705Z,1761537760.705 [DAT](INFO): direction in FSK: [-0.374999,0.854271,0.359997] 2025-10-27T04:02:40.705Z,1761537760.705 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:40.715Z,1761537760.715 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:40.737Z,1761537760.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920719,-0.361933,-0.145878],[0.363224,-0.931515,0.018638],[-0.142634,-0.035826,0.989127]] 2025-10-27T04:02:40.755Z,1761537760.755 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:40.831Z,1761537760.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.508142 s, deltaX: 0.299999 m, approachRate: 0.590385 m/s, rangeRepo size: 4 2025-10-27T04:02:40.833Z,1761537760.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.689400 m, bearing: 268.982323 deg, lat: 36.779372 deg, lon: -121.859541 deg, deltaT: 0.508142 s, deltaX: 0.298712 m, approachRate: 0.587851 m/s, posRepo size: 4 2025-10-27T04:02:40.834Z,1761537760.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.69 m. 2025-10-27T04:02:40.884Z,1761537760.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:41.136Z,1761537761.136 [DAT](INFO): DAT read: Rx Time:04:02:39.8354 2025-10-27T04:02:41.137Z,1761537761.137 [DAT](INFO): Rx dataTimestamp_ set to:1761537761.136568 2025-10-27T04:02:41.138Z,1761537761.138 [DAT](INFO): DAT read: Bearing 69.9, 62.5 (Local) 2025-10-27T04:02:41.138Z,1761537761.138 [DAT](INFO): Local bearing/azimuth received: Bearing 69.9, 62.5 (Local) 2025-10-27T04:02:41.141Z,1761537761.141 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.1 2025-10-27T04:02:41.145Z,1761537761.145 [DAT](INFO): DAT read: 04:02:39.8354 LVL= 13472, 13249, 21042, 23795, AGC= 50, IDX= 510,-0.28, 0.736, 0.444,-0.905, 0.641, PHS= 0.197,-0.152,-1.590, RAW= 40.6, 18.4, CAL= 36.7, 21.3, ROT= 113.3, -21.3 2025-10-27T04:02:41.146Z,1761537761.146 [DAT](INFO): got valid direction response: 04:02:39.8354 LVL= 13472, 13249, 21042, 23795, AGC= 50, IDX= 510,-0.28, 0.736, 0.444,-0.905, 0.641, PHS= 0.197,-0.152,-1.590, RAW= 40.6, 18.4, CAL= 36.7, 21.3, ROT= 113.3, -21.3 2025-10-27T04:02:41.147Z,1761537761.147 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:41.148Z,1761537761.148 [DAT](INFO): direction in FSK: [-0.368526,0.855708,0.363251] 2025-10-27T04:02:41.148Z,1761537761.148 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:41.151Z,1761537761.151 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:41.152Z,1761537761.152 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:41.178Z,1761537761.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921790,-0.359108,-0.146101],[0.360367,-0.932624,0.018687],[-0.142968,-0.035425,0.989093]] 2025-10-27T04:02:41.245Z,1761537761.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.499611 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:41.252Z,1761537761.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.689392 m, bearing: 268.719261 deg, lat: 36.779372 deg, lon: -121.859541 deg, deltaT: 0.499611 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 2025-10-27T04:02:41.252Z,1761537761.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.69 m. 2025-10-27T04:02:41.388Z,1761537761.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:41.641Z,1761537761.641 [DAT](INFO): DAT read: Rx Time:04:02:40.3355 2025-10-27T04:02:41.641Z,1761537761.641 [DAT](INFO): Rx dataTimestamp_ set to:1761537761.640724 2025-10-27T04:02:41.642Z,1761537761.642 [DAT](INFO): DAT read: Bearing 70.1, 62.6 (Local) 2025-10-27T04:02:41.643Z,1761537761.643 [DAT](INFO): Local bearing/azimuth received: Bearing 70.1, 62.6 (Local) 2025-10-27T04:02:41.648Z,1761537761.648 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1 2025-10-27T04:02:41.653Z,1761537761.653 [DAT](INFO): DAT read: 04:02:40.3355 LVL= 13872, 16161, 21858, 24131, AGC= 51, IDX= 511, 0.18,-1.374,-1.670,-3.026,-1.473, PHS= 0.200,-0.152,-1.598, RAW= 40.7, 18.4, CAL= 36.8, 21.3, ROT= 113.2, -21.3 2025-10-27T04:02:41.654Z,1761537761.654 [DAT](INFO): got valid direction response: 04:02:40.3355 LVL= 13872, 16161, 21858, 24131, AGC= 51, IDX= 511, 0.18,-1.374,-1.670,-3.026,-1.473, PHS= 0.200,-0.152,-1.598, RAW= 40.7, 18.4, CAL= 36.8, 21.3, ROT= 113.2, -21.3 2025-10-27T04:02:41.684Z,1761537761.684 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:41.691Z,1761537761.691 [DAT](INFO): direction in FSK: [-0.367032,0.856350,0.363251] 2025-10-27T04:02:41.692Z,1761537761.692 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:41.760Z,1761537761.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:41.760Z,1761537761.760 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:41.804Z,1761537761.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504156 s, deltaX: 0.200001 m, approachRate: 0.396704 m/s, rangeRepo size: 4 2025-10-27T04:02:41.806Z,1761537761.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.888535 m, bearing: 268.619713 deg, lat: 36.779371 deg, lon: -121.859542 deg, deltaT: 0.504156 s, deltaX: 0.199142 m, approachRate: 0.395002 m/s, posRepo size: 4 2025-10-27T04:02:41.806Z,1761537761.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:41.892Z,1761537761.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:42.062Z,1761537762.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923678,-0.353726,-0.147298],[0.355098,-0.934660,0.017768],[-0.143958,-0.035894,0.988933]] 2025-10-27T04:02:42.139Z,1761537762.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:42.145Z,1761537762.145 [DAT](INFO): DAT read: Rx Time:04:02:40.8355 2025-10-27T04:02:42.145Z,1761537762.145 [DAT](INFO): Rx dataTimestamp_ set to:1761537762.144966 2025-10-27T04:02:42.147Z,1761537762.147 [DAT](INFO): DAT read: Bearing 70.2, 62.6 (Local) 2025-10-27T04:02:42.147Z,1761537762.147 [DAT](INFO): Local bearing/azimuth received: Bearing 70.2, 62.6 (Local) 2025-10-27T04:02:42.149Z,1761537762.149 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.0 2025-10-27T04:02:42.154Z,1761537762.154 [DAT](INFO): DAT read: 04:02:40.8355 LVL= 13936, 13137, 23282, 24883, AGC= 50, IDX= 511,-0.22, 1.795, 1.499, 0.156, 1.698, PHS= 0.199,-0.154,-1.586, RAW= 40.8, 18.4, CAL= 36.9, 21.3, ROT= 113.1, -21.3 2025-10-27T04:02:42.155Z,1761537762.155 [DAT](INFO): got valid direction response: 04:02:40.8355 LVL= 13936, 13137, 23282, 24883, AGC= 50, IDX= 511,-0.22, 1.795, 1.499, 0.156, 1.698, PHS= 0.199,-0.154,-1.586, RAW= 40.8, 18.4, CAL= 36.9, 21.3, ROT= 113.1, -21.3 2025-10-27T04:02:42.155Z,1761537762.155 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:42.156Z,1761537762.156 [DAT](INFO): direction in FSK: [-0.365537,0.856990,0.363251] 2025-10-27T04:02:42.156Z,1761537762.156 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:42.164Z,1761537762.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:42.164Z,1761537762.164 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:42.396Z,1761537762.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:42.497Z,1761537762.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925046,-0.349171,-0.149563],[0.350897,-0.936285,0.015562],[-0.145468,-0.038086,0.988630]] 2025-10-27T04:02:42.540Z,1761537762.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504242 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:42.542Z,1761537762.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.888512 m, bearing: 269.044577 deg, lat: 36.779371 deg, lon: -121.859542 deg, deltaT: 0.504242 s, deltaX: -0.000023 m, approachRate: -0.000045 m/s, posRepo size: 4 2025-10-27T04:02:42.542Z,1761537762.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:42.650Z,1761537762.650 [DAT](INFO): DAT read: Rx Time:04:02:41.3355 2025-10-27T04:02:42.651Z,1761537762.651 [DAT](INFO): Rx dataTimestamp_ set to:1761537762.650262 2025-10-27T04:02:42.652Z,1761537762.652 [DAT](INFO): DAT read: Bearing 69.5, 62.5 (Local) 2025-10-27T04:02:42.652Z,1761537762.652 [DAT](INFO): Local bearing/azimuth received: Bearing 69.5, 62.5 (Local) 2025-10-27T04:02:42.654Z,1761537762.654 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.0 2025-10-27T04:02:42.661Z,1761537762.661 [DAT](INFO): DAT read: 04:02:41.3355 LVL= 13424, 14385, 22770, 25299, AGC= 51, IDX= 511, 0.07,-2.959, 3.013, 1.673,-3.059, PHS= 0.202,-0.166,-1.595, RAW= 41.2, 18.5, CAL= 37.2, 21.5, ROT= 112.8, -21.5 2025-10-27T04:02:42.664Z,1761537762.664 [DAT](INFO): got valid direction response: 04:02:41.3355 LVL= 13424, 14385, 22770, 25299, AGC= 51, IDX= 511, 0.07,-2.959, 3.013, 1.673,-3.059, PHS= 0.202,-0.166,-1.595, RAW= 41.2, 18.5, CAL= 37.2, 21.5, ROT= 112.8, -21.5 2025-10-27T04:02:42.665Z,1761537762.665 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:42.668Z,1761537762.668 [DAT](INFO): direction in FSK: [-0.360551,0.857718,0.366501] 2025-10-27T04:02:42.669Z,1761537762.669 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:42.682Z,1761537762.682 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:42.731Z,1761537762.731 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:42.900Z,1761537762.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:42.926Z,1761537762.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.505296 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:42.928Z,1761537762.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.888475 m, bearing: 268.711621 deg, lat: 36.779371 deg, lon: -121.859542 deg, deltaT: 0.505296 s, deltaX: -0.000036 m, approachRate: -0.000072 m/s, posRepo size: 4 2025-10-27T04:02:42.928Z,1761537762.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:43.152Z,1761537763.152 [DAT](INFO): DAT read: Rx Time:04:02:41.8354 2025-10-27T04:02:43.153Z,1761537763.153 [DAT](INFO): Rx dataTimestamp_ set to:1761537763.152675 2025-10-27T04:02:43.154Z,1761537763.154 [DAT](INFO): DAT read: Bearing 69.6, 62.7 (Local) 2025-10-27T04:02:43.155Z,1761537763.155 [DAT](INFO): Local bearing/azimuth received: Bearing 69.6, 62.7 (Local) 2025-10-27T04:02:43.157Z,1761537763.157 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.0 2025-10-27T04:02:43.161Z,1761537763.161 [DAT](INFO): DAT read: 04:02:41.8354 LVL= 15168, 16769, 22578, 23267, AGC= 50, IDX= 510, 0.26, 3.106, 2.785, 1.439, 2.996, PHS= 0.212,-0.166,-1.601, RAW= 41.4, 18.4, CAL= 37.4, 21.3, ROT= 112.6, -21.3 2025-10-27T04:02:43.162Z,1761537763.162 [DAT](INFO): got valid direction response: 04:02:41.8354 LVL= 15168, 16769, 22578, 23267, AGC= 50, IDX= 510, 0.26, 3.106, 2.785, 1.439, 2.996, PHS= 0.212,-0.166,-1.601, RAW= 41.4, 18.4, CAL= 37.4, 21.3, ROT= 112.6, -21.3 2025-10-27T04:02:43.163Z,1761537763.163 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:43.164Z,1761537763.164 [DAT](INFO): direction in FSK: [-0.358045,0.860147,0.363251] 2025-10-27T04:02:43.164Z,1761537763.164 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:43.208Z,1761537763.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:43.208Z,1761537763.208 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:43.266Z,1761537763.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925804,-0.346764,-0.150471],[0.348606,-0.937152,0.014820],[-0.146153,-0.038735,0.988503]] 2025-10-27T04:02:43.330Z,1761537763.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.502413 s, deltaX: -0.200001 m, approachRate: -0.398080 m/s, rangeRepo size: 4 2025-10-27T04:02:43.337Z,1761537763.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.689333 m, bearing: 268.672510 deg, lat: 36.779370 deg, lon: -121.859542 deg, deltaT: 0.502413 s, deltaX: -0.199142 m, approachRate: -0.396372 m/s, posRepo size: 4 2025-10-27T04:02:43.337Z,1761537763.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.69 m. 2025-10-27T04:02:43.404Z,1761537763.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:43.656Z,1761537763.656 [DAT](INFO): DAT read: Rx Time:04:02:42.3355 2025-10-27T04:02:43.657Z,1761537763.657 [DAT](INFO): Rx dataTimestamp_ set to:1761537763.656687 2025-10-27T04:02:43.658Z,1761537763.658 [DAT](INFO): DAT read: Bearing 69.8, 62.6 (Local) 2025-10-27T04:02:43.659Z,1761537763.659 [DAT](INFO): Local bearing/azimuth received: Bearing 69.8, 62.6 (Local) 2025-10-27T04:02:43.661Z,1761537763.661 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.0 2025-10-27T04:02:43.665Z,1761537763.665 [DAT](INFO): DAT read: 04:02:42.3355 LVL= 14064, 16481, 22322, 23699, AGC= 51, IDX= 511, 0.40,-1.492,-1.809, 3.135,-1.600, PHS= 0.209,-0.164,-1.593, RAW= 41.3, 18.4, CAL= 37.4, 21.3, ROT= 112.6, -21.3 2025-10-27T04:02:43.666Z,1761537763.666 [DAT](INFO): got valid direction response: 04:02:42.3355 LVL= 14064, 16481, 22322, 23699, AGC= 51, IDX= 511, 0.40,-1.492,-1.809, 3.135,-1.600, PHS= 0.209,-0.164,-1.593, RAW= 41.3, 18.4, CAL= 37.4, 21.3, ROT= 112.6, -21.3 2025-10-27T04:02:43.667Z,1761537763.667 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:43.668Z,1761537763.668 [DAT](INFO): direction in FSK: [-0.358045,0.860147,0.363251] 2025-10-27T04:02:43.668Z,1761537763.668 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:43.684Z,1761537763.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:43.684Z,1761537763.684 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:43.772Z,1761537763.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927099,-0.342797,-0.151583],[0.344528,-0.938648,0.015530],[-0.147607,-0.037826,0.988322]] 2025-10-27T04:02:43.894Z,1761537763.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504012 s, deltaX: 0.200001 m, approachRate: 0.396817 m/s, rangeRepo size: 4 2025-10-27T04:02:43.900Z,1761537763.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.888399 m, bearing: 268.886823 deg, lat: 36.779369 deg, lon: -121.859542 deg, deltaT: 0.504012 s, deltaX: 0.199066 m, approachRate: 0.394963 m/s, posRepo size: 4 2025-10-27T04:02:43.900Z,1761537763.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:43.908Z,1761537763.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:44.152Z,1761537764.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927908,-0.340363,-0.152118],[0.342046,-0.939551,0.015789],[-0.148296,-0.037381,0.988236]] 2025-10-27T04:02:44.161Z,1761537764.161 [DAT](INFO): DAT read: Rx Time:04:02:42.8355 2025-10-27T04:02:44.161Z,1761537764.161 [DAT](INFO): Rx dataTimestamp_ set to:1761537764.161037 2025-10-27T04:02:44.163Z,1761537764.163 [DAT](INFO): DAT read: Bearing 69.3, 62.5 (Local) 2025-10-27T04:02:44.163Z,1761537764.163 [DAT](INFO): Local bearing/azimuth received: Bearing 69.3, 62.5 (Local) 2025-10-27T04:02:44.165Z,1761537764.165 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.0 2025-10-27T04:02:44.170Z,1761537764.170 [DAT](INFO): DAT read: 04:02:42.8355 LVL= 14368, 14241, 22434, 25011, AGC= 51, IDX= 511,-0.49, 2.686, 2.362, 1.043, 2.582, PHS= 0.205,-0.176,-1.583, RAW= 41.7, 18.6, CAL= 37.7, 21.6, ROT= 112.3, -21.6 2025-10-27T04:02:44.171Z,1761537764.171 [DAT](INFO): got valid direction response: 04:02:42.8355 LVL= 14368, 14241, 22434, 25011, AGC= 51, IDX= 511,-0.49, 2.686, 2.362, 1.043, 2.582, PHS= 0.205,-0.176,-1.583, RAW= 41.7, 18.6, CAL= 37.7, 21.6, ROT= 112.3, -21.6 2025-10-27T04:02:44.171Z,1761537764.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:44.172Z,1761537764.172 [DAT](INFO): direction in FSK: [-0.352809,0.860238,0.368125] 2025-10-27T04:02:44.172Z,1761537764.172 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:44.184Z,1761537764.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:44.184Z,1761537764.184 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:02:44.224Z,1761537764.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504350 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:44.226Z,1761537764.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.888399 m, bearing: 268.670901 deg, lat: 36.779369 deg, lon: -121.859541 deg, deltaT: 0.504350 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:44.226Z,1761537764.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:44.412Z,1761537764.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:02:44.550Z,1761537764.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928632,-0.338121,-0.152697],[0.339790,-0.940368,0.015833],[-0.148945,-0.037182,0.988146]] 2025-10-27T04:02:44.593Z,1761537764.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:44.668Z,1761537764.668 [DAT](INFO): DAT read: user:44> 2025-10-27T04:02:44.669Z,1761537764.669 [DAT](INFO): DAT read: 50 2025-10-27T04:02:44.669Z,1761537764.669 [DAT](INFO): unknown deviceResponse_: 50 2025-10-27T04:02:44.670Z,1761537764.670 [DAT](INFO): DAT read: Ok 2025-10-27T04:02:44.670Z,1761537764.670 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T04:02:44.670Z,1761537764.670 [DAT](INFO): DAT read: user:45> 2025-10-27T04:02:44.677Z,1761537764.677 [DAT](INFO): DAT read: Tx time:04:02:43.7811 2025-10-27T04:02:44.678Z,1761537764.678 [DAT](INFO): Ping request sent. 2025-10-27T04:02:44.679Z,1761537764.679 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:02:44.679Z,1761537764.679 [DAT](INFO): publishing transmit ping time 2025-10-27T04:02:44.680Z,1761537764.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001650 2025-10-27T04:02:44.920Z,1761537764.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241909 2025-10-27T04:02:44.954Z,1761537764.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929549,-0.335197,-0.153567],[0.337021,-0.941381,0.014785],[-0.149521,-0.038012,0.988028]] 2025-10-27T04:02:45.004Z,1761537765.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:45.172Z,1761537765.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493729 2025-10-27T04:02:45.357Z,1761537765.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930534,-0.332093,-0.154336],[0.334027,-0.942459,0.013999],[-0.150105,-0.038526,0.987919]] 2025-10-27T04:02:45.376Z,1761537765.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:45.424Z,1761537765.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745799 2025-10-27T04:02:45.678Z,1761537765.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000215 2025-10-27T04:02:45.790Z,1761537765.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931598,-0.329011,-0.154521],[0.330909,-0.943559,0.014024],[-0.150414,-0.038067,0.987890]] 2025-10-27T04:02:45.833Z,1761537765.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:45.928Z,1761537765.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249877 2025-10-27T04:02:46.180Z,1761537766.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501673 2025-10-27T04:02:46.197Z,1761537766.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:46.432Z,1761537766.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753744 2025-10-27T04:02:46.584Z,1761537766.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933915,-0.322461,-0.154341],[0.324103,-0.945901,0.015112],[-0.150864,-0.035909,0.987902]] 2025-10-27T04:02:46.605Z,1761537766.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:46.726Z,1761537766.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.046732 2025-10-27T04:02:46.840Z,1761537766.840 [CTD_Seabird](ERROR): Failed to parse device response: .81 2025-10-27T04:02:46.936Z,1761537766.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257648 2025-10-27T04:02:46.974Z,1761537766.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935214,-0.318839,-0.154000],[0.320375,-0.947165,0.015412],[-0.150778,-0.034925,0.987951]] 2025-10-27T04:02:47.009Z,1761537767.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T04:02:47.189Z,1761537767.189 [DAT](INFO): DAT read: Rx Time:04:02:45.9456 2025-10-27T04:02:47.190Z,1761537767.190 [DAT](INFO): Rx dataTimestamp_ set to:1761537767.189399 2025-10-27T04:02:47.192Z,1761537767.192 [DAT](INFO): DAT read: Bearing 68.0, 64.4 (Local) 2025-10-27T04:02:47.192Z,1761537767.192 [DAT](INFO): Local bearing/azimuth received: Bearing 68.0, 64.4 (Local) 2025-10-27T04:02:47.195Z,1761537767.195 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.1 2025-10-27T04:02:47.200Z,1761537767.200 [DAT](INFO): DAT read: 04:02:45.9456 LVL= 12640, 12081, 22882, 23155, AGC= 51, IDX= 326, 0.06, 2.580, 2.169, 0.869, 2.405, PHS= 0.277,-0.191,-1.580, RAW= 44.0, 17.5, CAL= 39.7, 20.3, ROT= 110.3, -20.3 2025-10-27T04:02:47.201Z,1761537767.201 [DAT](INFO): got valid direction response: 04:02:45.9456 LVL= 12640, 12081, 22882, 23155, AGC= 51, IDX= 326, 0.06, 2.580, 2.169, 0.869, 2.405, PHS= 0.277,-0.191,-1.580, RAW= 44.0, 17.5, CAL= 39.7, 20.3, ROT= 110.3, -20.3 2025-10-27T04:02:47.201Z,1761537767.201 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:02:47.202Z,1761537767.202 [DAT](INFO): direction in FSK: [-0.325387,0.879636,0.346936] 2025-10-27T04:02:47.202Z,1761537767.202 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:47.211Z,1761537767.211 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.532460 2025-10-27T04:02:47.378Z,1761537767.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936501,-0.315158,-0.153758],[0.316662,-0.948416,0.015264],[-0.150637,-0.034395,0.987991]] 2025-10-27T04:02:47.409Z,1761537767.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 3.028362 s, deltaX: 0.400000 m, approachRate: 0.132084 m/s, rangeRepo size: 4 2025-10-27T04:02:47.428Z,1761537767.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.286469 m, bearing: 268.411659 deg, lat: 36.779369 deg, lon: -121.859541 deg, deltaT: 3.028362 s, deltaX: 0.398069 m, approachRate: 0.131447 m/s, posRepo size: 4 2025-10-27T04:02:47.428Z,1761537767.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.29 m. 2025-10-27T04:02:47.440Z,1761537767.440 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.761806 2025-10-27T04:02:47.693Z,1761537767.693 [DAT](INFO): DAT read: Rx Time:04:02:46.4456 2025-10-27T04:02:47.694Z,1761537767.694 [DAT](INFO): Rx dataTimestamp_ set to:1761537767.693697 2025-10-27T04:02:47.696Z,1761537767.696 [DAT](INFO): DAT read: Bearing 66.6, 64.9 (Local) 2025-10-27T04:02:47.696Z,1761537767.696 [DAT](INFO): Local bearing/azimuth received: Bearing 66.6, 64.9 (Local) 2025-10-27T04:02:47.700Z,1761537767.700 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.1 2025-10-27T04:02:47.706Z,1761537767.706 [DAT](INFO): DAT read: 04:02:46.4456 LVL= 12048, 12833, 22418, 24035, AGC= 49, IDX= 502,-0.28,-0.786,-1.230,-2.502,-0.979, PHS= 0.295,-0.205,-1.566, RAW= 45.1, 17.4, CAL= 40.6, 20.2, ROT= 109.4, -20.2 2025-10-27T04:02:47.708Z,1761537767.708 [DAT](INFO): got valid direction response: 04:02:46.4456 LVL= 12048, 12833, 22418, 24035, AGC= 49, IDX= 502,-0.28,-0.786,-1.230,-2.502,-0.979, PHS= 0.295,-0.205,-1.566, RAW= 45.1, 17.4, CAL= 40.6, 20.2, ROT= 109.4, -20.2 2025-10-27T04:02:47.708Z,1761537767.708 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:02:47.709Z,1761537767.709 [DAT](INFO): direction in FSK: [-0.311731,0.885208,0.345298] 2025-10-27T04:02:47.710Z,1761537767.710 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:47.716Z,1761537767.716 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037160 2025-10-27T04:02:47.840Z,1761537767.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937812,-0.311318,-0.153591],[0.312928,-0.949671,0.014205],[-0.150284,-0.034741,0.988032]] 2025-10-27T04:02:47.916Z,1761537767.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504298 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:47.918Z,1761537767.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.286549 m, bearing: 267.774449 deg, lat: 36.779368 deg, lon: -121.859541 deg, deltaT: 0.504298 s, deltaX: 0.000080 m, approachRate: 0.000159 m/s, posRepo size: 4 2025-10-27T04:02:47.918Z,1761537767.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.29 m. 2025-10-27T04:02:47.944Z,1761537767.944 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.265961 2025-10-27T04:02:48.187Z,1761537768.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939231,-0.306941,-0.153730],[0.308843,-0.951038,0.011952],[-0.149871,-0.036253,0.988041]] 2025-10-27T04:02:48.196Z,1761537768.196 [DAT](INFO): DAT read: Rx Time:04:02:46.9457 2025-10-27T04:02:48.197Z,1761537768.197 [DAT](INFO): Rx dataTimestamp_ set to:1761537768.196517 2025-10-27T04:02:48.198Z,1761537768.198 [DAT](INFO): DAT read: Bearing 67.7, 65.0 (Local) 2025-10-27T04:02:48.198Z,1761537768.198 [DAT](INFO): Local bearing/azimuth received: Bearing 67.7, 65.0 (Local) 2025-10-27T04:02:48.201Z,1761537768.201 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.2 2025-10-27T04:02:48.205Z,1761537768.205 [DAT](INFO): DAT read: 04:02:46.9457 LVL= 12016, 13745, 21282, 22803, AGC= 50, IDX= 503, 0.27, 1.989, 1.549, 0.255, 1.793, PHS= 0.298,-0.199,-1.582, RAW= 44.8, 17.3, CAL= 40.3, 20.0, ROT= 109.7, -20.0 2025-10-27T04:02:48.206Z,1761537768.206 [DAT](INFO): got valid direction response: 04:02:46.9457 LVL= 12016, 13745, 21282, 22803, AGC= 50, IDX= 503, 0.27, 1.989, 1.549, 0.255, 1.793, PHS= 0.298,-0.199,-1.582, RAW= 44.8, 17.3, CAL= 40.3, 20.0, ROT= 109.7, -20.0 2025-10-27T04:02:48.206Z,1761537768.206 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T04:02:48.208Z,1761537768.208 [DAT](INFO): direction in FSK: [-0.316766,0.884693,0.342020] 2025-10-27T04:02:48.208Z,1761537768.208 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:48.211Z,1761537768.211 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.533255 2025-10-27T04:02:48.270Z,1761537768.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.502820 s, deltaX: 0.200001 m, approachRate: 0.397758 m/s, rangeRepo size: 4 2025-10-27T04:02:48.281Z,1761537768.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.485691 m, bearing: 268.369955 deg, lat: 36.779365 deg, lon: -121.859544 deg, deltaT: 0.502820 s, deltaX: 0.199142 m, approachRate: 0.396051 m/s, posRepo size: 4 2025-10-27T04:02:48.281Z,1761537768.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.49 m. 2025-10-27T04:02:48.448Z,1761537768.448 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.770015 2025-10-27T04:02:48.628Z,1761537768.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940753,-0.302327,-0.153568],[0.304483,-0.952467,0.009852],[-0.149247,-0.037491,0.988089]] 2025-10-27T04:02:48.646Z,1761537768.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.49 m. 2025-10-27T04:02:48.701Z,1761537768.701 [DAT](INFO): DAT read: Rx Time:04:02:47.4457 2025-10-27T04:02:48.702Z,1761537768.702 [DAT](INFO): Rx dataTimestamp_ set to:1761537768.701474 2025-10-27T04:02:48.704Z,1761537768.704 [DAT](INFO): DAT read: Bearing 66.5, 65.0 (Local) 2025-10-27T04:02:48.704Z,1761537768.704 [DAT](INFO): Local bearing/azimuth received: Bearing 66.5, 65.0 (Local) 2025-10-27T04:02:48.708Z,1761537768.708 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.2 2025-10-27T04:02:48.714Z,1761537768.714 [DAT](INFO): DAT read: 04:02:47.4457 LVL= 12528, 11825, 21266, 22163, AGC= 49, IDX= 503, 0.04, 0.379,-0.082,-1.357, 0.177, PHS= 0.305,-0.214,-1.578, RAW= 45.5, 17.3, CAL= 41.0, 20.2, ROT= 109.0, -20.2 2025-10-27T04:02:48.724Z,1761537768.724 [DAT](INFO): got valid direction response: 04:02:47.4457 LVL= 12528, 11825, 21266, 22163, AGC= 49, IDX= 503, 0.04, 0.379,-0.082,-1.357, 0.177, PHS= 0.305,-0.214,-1.578, RAW= 45.5, 17.3, CAL= 41.0, 20.2, ROT= 109.0, -20.2 2025-10-27T04:02:48.724Z,1761537768.724 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T04:02:48.726Z,1761537768.726 [DAT](INFO): direction in FSK: [-0.305543,0.887363,0.345298] 2025-10-27T04:02:48.726Z,1761537768.726 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:48.757Z,1761537768.757 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.078631 2025-10-27T04:02:48.952Z,1761537768.952 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.273897 2025-10-27T04:02:48.994Z,1761537768.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942128,-0.298307,-0.152994],[0.300523,-0.953732,0.008983],[-0.148595,-0.037515,0.988186]] 2025-10-27T04:02:49.083Z,1761537769.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:49.094Z,1761537769.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.485657 m, bearing: 268.182252 deg, lat: 36.779364 deg, lon: -121.859544 deg, deltaT: 0.504957 s, deltaX: -0.000034 m, approachRate: -0.000068 m/s, posRepo size: 4 2025-10-27T04:02:49.102Z,1761537769.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.49 m. 2025-10-27T04:02:49.205Z,1761537769.205 [DAT](INFO): DAT read: Rx Time:04:02:47.9458 2025-10-27T04:02:49.205Z,1761537769.205 [DAT](INFO): Rx dataTimestamp_ set to:1761537769.204866 2025-10-27T04:02:49.209Z,1761537769.209 [DAT](INFO): DAT read: Bearing 64.7, 65.4 (Local) 2025-10-27T04:02:49.209Z,1761537769.209 [DAT](INFO): Local bearing/azimuth received: Bearing 64.7, 65.4 (Local) 2025-10-27T04:02:49.212Z,1761537769.212 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 2025-10-27T04:02:49.218Z,1761537769.218 [DAT](INFO): DAT read: 04:02:47.9458 LVL= 11936, 12977, 21858, 23731, AGC= 50, IDX= 505,-0.14, 0.254,-0.245,-1.498, 0.034, PHS= 0.321,-0.235,-1.576, RAW= 46.6, 17.3, CAL= 42.1, 20.3, ROT= 107.9, -20.3 2025-10-27T04:02:49.221Z,1761537769.221 [DAT](INFO): got valid direction response: 04:02:47.9458 LVL= 11936, 12977, 21858, 23731, AGC= 50, IDX= 505,-0.14, 0.254,-0.245,-1.498, 0.034, PHS= 0.321,-0.235,-1.576, RAW= 46.6, 17.3, CAL= 42.1, 20.3, ROT= 107.9, -20.3 2025-10-27T04:02:49.221Z,1761537769.221 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T04:02:49.222Z,1761537769.222 [DAT](INFO): direction in FSK: [-0.288266,0.892490,0.346936] 2025-10-27T04:02:49.222Z,1761537769.222 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:49.230Z,1761537769.230 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.552112 2025-10-27T04:02:49.398Z,1761537769.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943464,-0.294501,-0.152134],[0.296664,-0.954941,0.008802],[-0.147871,-0.036828,0.988321]] 2025-10-27T04:02:49.432Z,1761537769.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503392 s, deltaX: 0.299999 m, approachRate: 0.595955 m/s, rangeRepo size: 4 2025-10-27T04:02:49.434Z,1761537769.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.784365 m, bearing: 267.326321 deg, lat: 36.779363 deg, lon: -121.859545 deg, deltaT: 0.503392 s, deltaX: 0.298708 m, approachRate: 0.593390 m/s, posRepo size: 4 2025-10-27T04:02:49.435Z,1761537769.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m. 2025-10-27T04:02:49.456Z,1761537769.456 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.777711 2025-10-27T04:02:49.709Z,1761537769.709 [DAT](INFO): DAT read: Rx Time:04:02:48.4458 2025-10-27T04:02:49.710Z,1761537769.710 [DAT](INFO): Rx dataTimestamp_ set to:1761537769.709559 2025-10-27T04:02:49.712Z,1761537769.712 [DAT](INFO): DAT read: Bearing 64.0, 65.6 (Local) 2025-10-27T04:02:49.712Z,1761537769.712 [DAT](INFO): Local bearing/azimuth received: Bearing 64.0, 65.6 (Local) 2025-10-27T04:02:49.716Z,1761537769.716 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 2025-10-27T04:02:49.721Z,1761537769.721 [DAT](INFO): DAT read: 04:02:48.4458 LVL= 13808, 14113, 20914, 21811, AGC= 51, IDX= 505,-0.37,-1.257,-1.771,-2.998,-1.483, PHS= 0.328,-0.242,-1.559, RAW= 47.1, 17.3, CAL= 42.6, 20.3, ROT= 107.4, -20.3 2025-10-27T04:02:49.753Z,1761537769.753 [DAT](INFO): got valid direction response: 04:02:48.4458 LVL= 13808, 14113, 20914, 21811, AGC= 51, IDX= 505,-0.37,-1.257,-1.771,-2.998,-1.483, PHS= 0.328,-0.242,-1.559, RAW= 47.1, 17.3, CAL= 42.6, 20.3, ROT= 107.4, -20.3 2025-10-27T04:02:49.759Z,1761537769.759 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T04:02:49.760Z,1761537769.760 [DAT](INFO): direction in FSK: [-0.280467,0.894971,0.346936] 2025-10-27T04:02:49.760Z,1761537769.760 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:49.809Z,1761537769.809 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.130818 2025-10-27T04:02:49.882Z,1761537769.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944693,-0.290969,-0.151304],[0.293062,-0.956053,0.008773],[-0.147207,-0.036053,0.988448]] 2025-10-27T04:02:49.960Z,1761537769.960 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.281926 2025-10-27T04:02:49.964Z,1761537769.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504693 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:49.966Z,1761537769.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.784290 m, bearing: 267.063829 deg, lat: 36.779362 deg, lon: -121.859546 deg, deltaT: 0.504693 s, deltaX: -0.000074 m, approachRate: -0.000147 m/s, posRepo size: 4 2025-10-27T04:02:49.966Z,1761537769.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m. 2025-10-27T04:02:50.213Z,1761537770.213 [DAT](INFO): DAT read: Rx Time:04:02:48.9458 2025-10-27T04:02:50.213Z,1761537770.213 [DAT](INFO): Rx dataTimestamp_ set to:1761537770.212749 2025-10-27T04:02:50.214Z,1761537770.214 [DAT](INFO): DAT read: Bearing 65.1, 65.9 (Local) 2025-10-27T04:02:50.215Z,1761537770.215 [DAT](INFO): Local bearing/azimuth received: Bearing 65.1, 65.9 (Local) 2025-10-27T04:02:50.217Z,1761537770.217 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 2025-10-27T04:02:50.221Z,1761537770.221 [DAT](INFO): DAT read: 04:02:48.9458 LVL= 14560, 14577, 22978, 22259, AGC= 51, IDX= 505, 0.29, 1.357, 0.837,-0.423, 1.119, PHS= 0.340,-0.237,-1.586, RAW= 47.0, 17.0, CAL= 42.4, 20.0, ROT= 107.6, -20.0 2025-10-27T04:02:50.223Z,1761537770.223 [DAT](INFO): got valid direction response: 04:02:48.9458 LVL= 14560, 14577, 22978, 22259, AGC= 51, IDX= 505, 0.29, 1.357, 0.837,-0.423, 1.119, PHS= 0.340,-0.237,-1.586, RAW= 47.0, 17.0, CAL= 42.4, 20.0, ROT= 107.6, -20.0 2025-10-27T04:02:50.223Z,1761537770.223 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T04:02:50.224Z,1761537770.224 [DAT](INFO): direction in FSK: [-0.284135,0.895706,0.342020] 2025-10-27T04:02:50.224Z,1761537770.224 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:50.232Z,1761537770.232 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.553800 2025-10-27T04:02:50.238Z,1761537770.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945907,-0.287481,-0.150379],[0.289558,-0.957124,0.008380],[-0.146340,-0.035617,0.988593]] 2025-10-27T04:02:50.294Z,1761537770.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503190 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:50.300Z,1761537770.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.784290 m, bearing: 267.544652 deg, lat: 36.779359 deg, lon: -121.859546 deg, deltaT: 0.503190 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:50.301Z,1761537770.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m. 2025-10-27T04:02:50.464Z,1761537770.464 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.785884 2025-10-27T04:02:50.633Z,1761537770.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947110,-0.283798,-0.149807],[0.285960,-0.958213,0.007369],[-0.145638,-0.035860,0.988688]] 2025-10-27T04:02:50.672Z,1761537770.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m. 2025-10-27T04:02:50.717Z,1761537770.717 [DAT](INFO): DAT read: Rx Time:04:02:49.4458 2025-10-27T04:02:50.718Z,1761537770.718 [DAT](INFO): Rx dataTimestamp_ set to:1761537770.717591 2025-10-27T04:02:50.720Z,1761537770.720 [DAT](INFO): DAT read: Bearing 66.9, 66.8 (Local) 2025-10-27T04:02:50.720Z,1761537770.720 [DAT](INFO): Local bearing/azimuth received: Bearing 66.9, 66.8 (Local) 2025-10-27T04:02:50.723Z,1761537770.723 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.2 2025-10-27T04:02:50.730Z,1761537770.730 [DAT](INFO): DAT read: 04:02:49.4458 LVL= 12416, 11377, 22306, 22675, AGC= 49, IDX= 505, 0.09,-0.272,-0.773,-2.040,-0.524, PHS= 0.354,-0.204,-1.560, RAW= 46.5, 16.3, CAL= 42.2, 19.0, ROT= 107.8, -19.0 2025-10-27T04:02:50.731Z,1761537770.731 [DAT](INFO): got valid direction response: 04:02:49.4458 LVL= 12416, 11377, 22306, 22675, AGC= 49, IDX= 505, 0.09,-0.272,-0.773,-2.040,-0.524, PHS= 0.354,-0.204,-1.560, RAW= 46.5, 16.3, CAL= 42.2, 19.0, ROT= 107.8, -19.0 2025-10-27T04:02:50.732Z,1761537770.732 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T04:02:50.733Z,1761537770.733 [DAT](INFO): direction in FSK: [-0.289041,0.900256,0.325568] 2025-10-27T04:02:50.733Z,1761537770.733 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:50.743Z,1761537770.743 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.064286 2025-10-27T04:02:50.968Z,1761537770.968 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.289715 2025-10-27T04:02:51.028Z,1761537771.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948126,-0.280578,-0.149442],[0.282882,-0.959136,0.006047],[-0.145032,-0.036541,0.988752]] 2025-10-27T04:02:51.150Z,1761537771.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504842 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:51.156Z,1761537771.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.784309 m, bearing: 268.348386 deg, lat: 36.779359 deg, lon: -121.859546 deg, deltaT: 0.504842 s, deltaX: 0.000019 m, approachRate: 0.000038 m/s, posRepo size: 4 2025-10-27T04:02:51.156Z,1761537771.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.78 m. 2025-10-27T04:02:51.222Z,1761537771.222 [DAT](INFO): DAT read: Rx Time:04:02:49.9460 2025-10-27T04:02:51.222Z,1761537771.222 [DAT](INFO): Rx dataTimestamp_ set to:1761537771.222201 2025-10-27T04:02:51.224Z,1761537771.224 [DAT](INFO): DAT read: Bearing 64.6, 66.8 (Local) 2025-10-27T04:02:51.225Z,1761537771.225 [DAT](INFO): Local bearing/azimuth received: Bearing 64.6, 66.8 (Local) 2025-10-27T04:02:51.229Z,1761537771.229 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed -0.2 2025-10-27T04:02:51.235Z,1761537771.235 [DAT](INFO): DAT read: 04:02:49.9460 LVL= 12640, 13121, 22626, 22451, AGC= 50, IDX= 507,-0.12,-0.452,-0.987,-2.216,-0.712, PHS= 0.362,-0.230,-1.548, RAW= 47.6, 16.5, CAL= 43.2, 19.3, ROT= 106.8, -19.3 2025-10-27T04:02:51.237Z,1761537771.237 [DAT](INFO): got valid direction response: 04:02:49.9460 LVL= 12640, 13121, 22626, 22451, AGC= 50, IDX= 507,-0.12,-0.452,-0.987,-2.216,-0.712, PHS= 0.362,-0.230,-1.548, RAW= 47.6, 16.5, CAL= 43.2, 19.3, ROT= 106.8, -19.3 2025-10-27T04:02:51.237Z,1761537771.237 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T04:02:51.238Z,1761537771.238 [DAT](INFO): direction in FSK: [-0.272788,0.903519,0.330514] 2025-10-27T04:02:51.239Z,1761537771.239 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:51.261Z,1761537771.261 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.582834 2025-10-27T04:02:51.426Z,1761537771.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949208,-0.277124,-0.149017],[0.279587,-0.960109,0.004585],[-0.144343,-0.037311,0.988824]] 2025-10-27T04:02:51.449Z,1761537771.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.504610 s, deltaX: 0.300001 m, approachRate: 0.594521 m/s, rangeRepo size: 4 2025-10-27T04:02:51.452Z,1761537771.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.083019 m, bearing: 267.526261 deg, lat: 36.779359 deg, lon: -121.859547 deg, deltaT: 0.504610 s, deltaX: 0.298710 m, approachRate: 0.591962 m/s, posRepo size: 4 2025-10-27T04:02:51.452Z,1761537771.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.08 m. 2025-10-27T04:02:51.472Z,1761537771.472 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.793885 2025-10-27T04:02:51.725Z,1761537771.725 [DAT](INFO): DAT read: Rx Time:04:02:50.4460 2025-10-27T04:02:51.726Z,1761537771.726 [DAT](INFO): Rx dataTimestamp_ set to:1761537771.725385 2025-10-27T04:02:51.727Z,1761537771.727 [DAT](INFO): DAT read: Bearing 64.9, 67.1 (Local) 2025-10-27T04:02:51.727Z,1761537771.727 [DAT](INFO): Local bearing/azimuth received: Bearing 64.9, 67.1 (Local) 2025-10-27T04:02:51.729Z,1761537771.729 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed -0.1 2025-10-27T04:02:51.734Z,1761537771.734 [DAT](INFO): DAT read: 04:02:50.4460 LVL= 14736, 15537, 22002, 21939, AGC= 50, IDX= 507,-0.48,-0.762,-1.303,-2.539,-1.033, PHS= 0.373,-0.224,-1.550, RAW= 47.7, 16.2, CAL= 43.4, 19.0, ROT= 106.6, -19.0 2025-10-27T04:02:51.735Z,1761537771.735 [DAT](INFO): got valid direction response: 04:02:50.4460 LVL= 14736, 15537, 22002, 21939, AGC= 50, IDX= 507,-0.48,-0.762,-1.303,-2.539,-1.033, PHS= 0.373,-0.224,-1.550, RAW= 47.7, 16.2, CAL= 43.4, 19.0, ROT= 106.6, -19.0 2025-10-27T04:02:51.736Z,1761537771.736 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T04:02:51.737Z,1761537771.737 [DAT](INFO): direction in FSK: [-0.270124,0.906112,0.325568] 2025-10-27T04:02:51.737Z,1761537771.737 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:51.754Z,1761537771.754 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.075523 2025-10-27T04:02:51.888Z,1761537771.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950168,-0.274144,-0.148411],[0.276669,-0.960958,0.003764],[-0.143648,-0.037484,0.988919]] 2025-10-27T04:02:51.947Z,1761537771.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503184 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:51.949Z,1761537771.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.083105 m, bearing: 267.570658 deg, lat: 36.779358 deg, lon: -121.859547 deg, deltaT: 0.503184 s, deltaX: 0.000086 m, approachRate: 0.000171 m/s, posRepo size: 4 2025-10-27T04:02:51.949Z,1761537771.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.08 m. 2025-10-27T04:02:51.976Z,1761537771.976 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.298138 2025-10-27T04:02:52.229Z,1761537772.229 [DAT](INFO): DAT read: Rx Time:04:02:50.9461 2025-10-27T04:02:52.230Z,1761537772.230 [DAT](INFO): Rx dataTimestamp_ set to:1761537772.229273 2025-10-27T04:02:52.231Z,1761537772.231 [DAT](INFO): DAT read: Bearing 66.0, 67.0 (Local) 2025-10-27T04:02:52.231Z,1761537772.231 [DAT](INFO): Local bearing/azimuth received: Bearing 66.0, 67.0 (Local) 2025-10-27T04:02:52.233Z,1761537772.233 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.1 2025-10-27T04:02:52.238Z,1761537772.238 [DAT](INFO): DAT read: 04:02:50.9461 LVL= 12080, 12401, 20962, 20467, AGC= 50, IDX= 508, 0.11, 2.069, 1.529, 0.270, 1.795, PHS= 0.376,-0.221,-1.569, RAW= 47.4, 16.2, CAL= 43.2, 18.9, ROT= 106.8, -18.9 2025-10-27T04:02:52.239Z,1761537772.239 [DAT](INFO): got valid direction response: 04:02:50.9461 LVL= 12080, 12401, 20962, 20467, AGC= 50, IDX= 508, 0.11, 2.069, 1.529, 0.270, 1.795, PHS= 0.376,-0.221,-1.569, RAW= 47.4, 16.2, CAL= 43.2, 18.9, ROT= 106.8, -18.9 2025-10-27T04:02:52.239Z,1761537772.239 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T04:02:52.240Z,1761537772.240 [DAT](INFO): direction in FSK: [-0.273449,0.905706,0.323917] 2025-10-27T04:02:52.241Z,1761537772.241 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:52.244Z,1761537772.244 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.566281 2025-10-27T04:02:52.290Z,1761537772.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951087,-0.271211,-0.147910],[0.273741,-0.961798,0.003371],[-0.143174,-0.037283,0.988995]] 2025-10-27T04:02:52.346Z,1761537772.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503888 s, deltaX: 0.099998 m, approachRate: 0.198454 m/s, rangeRepo size: 4 2025-10-27T04:02:52.352Z,1761537772.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.182674 m, bearing: 267.971008 deg, lat: 36.779359 deg, lon: -121.859549 deg, deltaT: 0.503888 s, deltaX: 0.099569 m, approachRate: 0.197602 m/s, posRepo size: 4 2025-10-27T04:02:52.353Z,1761537772.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.18 m. 2025-10-27T04:02:52.485Z,1761537772.485 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.806201 2025-10-27T04:02:52.637Z,1761537772.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951864,-0.268893,-0.147144],[0.271354,-0.962474,0.003471],[-0.142556,-0.036624,0.989109]] 2025-10-27T04:02:52.669Z,1761537772.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.18 m. 2025-10-27T04:02:52.733Z,1761537772.733 [DAT](INFO): DAT read: Rx Time:04:02:51.4461 2025-10-27T04:02:52.734Z,1761537772.734 [DAT](INFO): Rx dataTimestamp_ set to:1761537772.733604 2025-10-27T04:02:52.736Z,1761537772.736 [DAT](INFO): DAT read: Bearing 63.1, 67.3 (Local) 2025-10-27T04:02:52.736Z,1761537772.736 [DAT](INFO): Local bearing/azimuth received: Bearing 63.1, 67.3 (Local) 2025-10-27T04:02:52.740Z,1761537772.740 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.1 2025-10-27T04:02:52.746Z,1761537772.746 [DAT](INFO): DAT read: 04:02:51.4461 LVL= 14496, 15777, 23618, 22643, AGC= 51, IDX= 508,-0.22,-0.869,-1.452,-2.666,-1.158, PHS= 0.391,-0.249,-1.553, RAW= 48.8, 16.2, CAL= 44.5, 19.2, ROT= 105.5, -19.2 2025-10-27T04:02:52.753Z,1761537772.753 [DAT](INFO): got valid direction response: 04:02:51.4461 LVL= 14496, 15777, 23618, 22643, AGC= 51, IDX= 508,-0.22,-0.869,-1.452,-2.666,-1.158, PHS= 0.391,-0.249,-1.553, RAW= 48.8, 16.2, CAL= 44.5, 19.2, ROT= 105.5, -19.2 2025-10-27T04:02:52.753Z,1761537772.753 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T04:02:52.755Z,1761537772.755 [DAT](INFO): direction in FSK: [-0.252374,0.910030,0.328867] 2025-10-27T04:02:52.759Z,1761537772.759 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:52.763Z,1761537772.763 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.084456 2025-10-27T04:02:52.780Z,1761537772.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:02:52.984Z,1761537772.984 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.305798 2025-10-27T04:02:53.140Z,1761537773.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.504331 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:53.142Z,1761537773.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.182663 m, bearing: 266.792006 deg, lat: 36.779358 deg, lon: -121.859549 deg, deltaT: 0.504331 s, deltaX: -0.000011 m, approachRate: -0.000023 m/s, posRepo size: 4 2025-10-27T04:02:53.142Z,1761537773.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.18 m. 2025-10-27T04:02:53.237Z,1761537773.237 [DAT](INFO): DAT read: Rx Time:04:02:51.9461 2025-10-27T04:02:53.237Z,1761537773.237 [DAT](INFO): Rx dataTimestamp_ set to:1761537773.236849 2025-10-27T04:02:53.238Z,1761537773.238 [DAT](INFO): DAT read: Bearing 64.8, 67.5 (Local) 2025-10-27T04:02:53.239Z,1761537773.239 [DAT](INFO): Local bearing/azimuth received: Bearing 64.8, 67.5 (Local) 2025-10-27T04:02:53.241Z,1761537773.241 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.0 2025-10-27T04:02:53.246Z,1761537773.246 [DAT](INFO): DAT read: 04:02:51.9461 LVL= 11808, 13025, 22322, 21427, AGC= 50, IDX= 508, 0.20, 1.051, 0.479,-0.766, 0.758, PHS= 0.395,-0.233,-1.568, RAW= 48.3, 16.0, CAL= 44.0, 18.8, ROT= 106.0, -18.8 2025-10-27T04:02:53.247Z,1761537773.247 [DAT](INFO): got valid direction response: 04:02:51.9461 LVL= 11808, 13025, 22322, 21427, AGC= 50, IDX= 508, 0.20, 1.051, 0.479,-0.766, 0.758, PHS= 0.395,-0.233,-1.568, RAW= 48.3, 16.0, CAL= 44.0, 18.8, ROT= 106.0, -18.8 2025-10-27T04:02:53.247Z,1761537773.247 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T04:02:53.248Z,1761537773.248 [DAT](INFO): direction in FSK: [-0.260932,0.909978,0.322266] 2025-10-27T04:02:53.248Z,1761537773.248 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:53.252Z,1761537773.252 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.574136 2025-10-27T04:02:53.448Z,1761537773.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953350,-0.263948,-0.146477],[0.266495,-0.963834,0.002316],[-0.141791,-0.036827,0.989211]] 2025-10-27T04:02:53.471Z,1761537773.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:53.473Z,1761537773.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.182663 m, bearing: 267.661137 deg, lat: 36.779357 deg, lon: -121.859549 deg, deltaT: 0.503245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:02:53.474Z,1761537773.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.18 m. 2025-10-27T04:02:53.488Z,1761537773.488 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.809780 2025-10-27T04:02:53.741Z,1761537773.741 [DAT](INFO): DAT read: Rx Time:04:02:52.4461 2025-10-27T04:02:53.741Z,1761537773.741 [DAT](INFO): Rx dataTimestamp_ set to:1761537773.740802 2025-10-27T04:02:53.742Z,1761537773.742 [DAT](INFO): DAT read: Bearing 63.4, 67.6 (Local) 2025-10-27T04:02:53.743Z,1761537773.743 [DAT](INFO): Local bearing/azimuth received: Bearing 63.4, 67.6 (Local) 2025-10-27T04:02:53.745Z,1761537773.745 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.1 2025-10-27T04:02:53.750Z,1761537773.750 [DAT](INFO): DAT read: 04:02:52.4461 LVL= 11632, 13489, 20386, 22003, AGC= 50, IDX= 508,-0.19,-1.475,-2.070, 2.995,-1.778, PHS= 0.404,-0.247,-1.554, RAW= 49.1, 16.0, CAL= 44.7, 18.9, ROT= 105.3, -18.9 2025-10-27T04:02:53.751Z,1761537773.751 [DAT](INFO): got valid direction response: 04:02:52.4461 LVL= 11632, 13489, 20386, 22003, AGC= 50, IDX= 508,-0.19,-1.475,-2.070, 2.995,-1.778, PHS= 0.404,-0.247,-1.554, RAW= 49.1, 16.0, CAL= 44.7, 18.9, ROT= 105.3, -18.9 2025-10-27T04:02:53.751Z,1761537773.751 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T04:02:53.752Z,1761537773.752 [DAT](INFO): direction in FSK: [-0.249646,0.912554,0.323917] 2025-10-27T04:02:53.752Z,1761537773.752 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:53.757Z,1761537773.757 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.078378 2025-10-27T04:02:53.784Z,1761537773.784 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:02:53.958Z,1761537773.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:53.960Z,1761537773.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.182632 m, bearing: 266.953435 deg, lat: 36.779356 deg, lon: -121.859548 deg, deltaT: 0.503953 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 2025-10-27T04:02:53.961Z,1761537773.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.18 m. 2025-10-27T04:02:53.992Z,1761537773.992 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.313822 2025-10-27T04:02:54.245Z,1761537774.245 [DAT](INFO): DAT read: Rx Time:04:02:52.9462 2025-10-27T04:02:54.245Z,1761537774.245 [DAT](INFO): Rx dataTimestamp_ set to:1761537774.244756 2025-10-27T04:02:54.246Z,1761537774.246 [DAT](INFO): DAT read: Bearing 65.0, 67.6 (Local) 2025-10-27T04:02:54.247Z,1761537774.247 [DAT](INFO): Local bearing/azimuth received: Bearing 65.0, 67.6 (Local) 2025-10-27T04:02:54.249Z,1761537774.249 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.1 2025-10-27T04:02:54.254Z,1761537774.254 [DAT](INFO): DAT read: 04:02:52.9462 LVL= 12624, 14817, 24514, 24883, AGC= 51, IDX= 509, 0.17, 1.232, 0.645,-0.606, 0.925, PHS= 0.409,-0.235,-1.575, RAW= 48.5, 15.8, CAL= 44.3, 18.6, ROT= 105.7, -18.6 2025-10-27T04:02:54.255Z,1761537774.255 [DAT](INFO): got valid direction response: 04:02:52.9462 LVL= 12624, 14817, 24514, 24883, AGC= 51, IDX= 509, 0.17, 1.232, 0.645,-0.606, 0.925, PHS= 0.409,-0.235,-1.575, RAW= 48.5, 15.8, CAL= 44.3, 18.6, ROT= 105.7, -18.6 2025-10-27T04:02:54.255Z,1761537774.255 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T04:02:54.256Z,1761537774.256 [DAT](INFO): direction in FSK: [-0.256467,0.912409,0.318959] 2025-10-27T04:02:54.256Z,1761537774.256 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:54.260Z,1761537774.260 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.582072 2025-10-27T04:02:54.301Z,1761537774.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954690,-0.259116,-0.146375],[0.261953,-0.965080,-0.000113],[-0.141234,-0.038451,0.989229]] 2025-10-27T04:02:54.357Z,1761537774.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.503954 s, deltaX: 0.200001 m, approachRate: 0.396863 m/s, rangeRepo size: 4 2025-10-27T04:02:54.363Z,1761537774.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.381773 m, bearing: 267.688238 deg, lat: 36.779356 deg, lon: -121.859548 deg, deltaT: 0.503954 s, deltaX: 0.199141 m, approachRate: 0.395156 m/s, posRepo size: 4 2025-10-27T04:02:54.364Z,1761537774.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m. 2025-10-27T04:02:54.496Z,1761537774.496 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.817808 2025-10-27T04:02:54.748Z,1761537774.748 [DAT](INFO): DAT read: Rx Time:04:02:53.4462 2025-10-27T04:02:54.749Z,1761537774.749 [DAT](INFO): Rx dataTimestamp_ set to:1761537774.748629 2025-10-27T04:02:54.750Z,1761537774.750 [DAT](INFO): DAT read: Bearing 64.0, 67.7 (Local) 2025-10-27T04:02:54.750Z,1761537774.750 [DAT](INFO): Local bearing/azimuth received: Bearing 64.0, 67.7 (Local) 2025-10-27T04:02:54.753Z,1761537774.753 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.0 2025-10-27T04:02:54.757Z,1761537774.757 [DAT](INFO): DAT read: 04:02:53.4462 LVL= 14416, 15729, 23746, 25571, AGC= 50, IDX= 509,-0.32,-1.549,-2.150, 2.911,-1.862, PHS= 0.415,-0.242,-1.554, RAW= 49.1, 15.7, CAL= 44.9, 18.5, ROT= 105.1, -18.5 2025-10-27T04:02:54.758Z,1761537774.758 [DAT](INFO): got valid direction response: 04:02:53.4462 LVL= 14416, 15729, 23746, 25571, AGC= 50, IDX= 509,-0.32,-1.549,-2.150, 2.911,-1.862, PHS= 0.415,-0.242,-1.554, RAW= 49.1, 15.7, CAL= 44.9, 18.5, ROT= 105.1, -18.5 2025-10-27T04:02:54.759Z,1761537774.759 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T04:02:54.760Z,1761537774.760 [DAT](INFO): direction in FSK: [-0.247043,0.915581,0.317305] 2025-10-27T04:02:54.760Z,1761537774.760 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:54.764Z,1761537774.764 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.085713 2025-10-27T04:02:54.922Z,1761537774.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.503873 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:02:54.933Z,1761537774.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.381742 m, bearing: 267.112298 deg, lat: 36.779353 deg, lon: -121.859548 deg, deltaT: 0.503873 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 2025-10-27T04:02:54.933Z,1761537774.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m. 2025-10-27T04:02:55.000Z,1761537775.000 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.322282 2025-10-27T04:02:55.256Z,1761537775.256 [DAT](INFO): DAT read: Rx Time:04:02:53.9463 2025-10-27T04:02:55.256Z,1761537775.256 [DAT](INFO): Rx dataTimestamp_ set to:1761537775.255703 2025-10-27T04:02:55.257Z,1761537775.257 [DAT](INFO): DAT read: Bearing 65.0, 68.2 (Local) 2025-10-27T04:02:55.258Z,1761537775.258 [DAT](INFO): Local bearing/azimuth received: Bearing 65.0, 68.2 (Local) 2025-10-27T04:02:55.260Z,1761537775.260 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed -0.1 2025-10-27T04:02:55.265Z,1761537775.265 [DAT](INFO): DAT read: 04:02:53.9463 LVL= 14704, 12273, 23346, 24195, AGC= 49, IDX= 510, 0.01, 0.513,-0.089,-1.334, 0.183, PHS= 0.432,-0.227,-1.561, RAW= 48.9, 15.3, CAL= 44.9, 17.9, ROT= 105.1, -17.9 2025-10-27T04:02:55.267Z,1761537775.267 [DAT](INFO): got valid direction response: 04:02:53.9463 LVL= 14704, 12273, 23346, 24195, AGC= 49, IDX= 510, 0.01, 0.513,-0.089,-1.334, 0.183, PHS= 0.432,-0.227,-1.561, RAW= 48.9, 15.3, CAL= 44.9, 17.9, ROT= 105.1, -17.9 2025-10-27T04:02:55.268Z,1761537775.268 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T04:02:55.269Z,1761537775.269 [DAT](INFO): direction in FSK: [-0.247895,0.918738,0.307357] 2025-10-27T04:02:55.269Z,1761537775.269 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:55.273Z,1761537775.273 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.595126 2025-10-27T04:02:55.330Z,1761537775.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956574,-0.252296,-0.145987],[0.255230,-0.966879,-0.001417],[-0.140795,-0.038615,0.989285]] 2025-10-27T04:02:55.417Z,1761537775.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.507074 s, deltaX: 0.100000 m, approachRate: 0.197211 m/s, rangeRepo size: 4 2025-10-27T04:02:55.424Z,1761537775.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.481312 m, bearing: 267.622019 deg, lat: 36.779354 deg, lon: -121.859549 deg, deltaT: 0.507074 s, deltaX: 0.099569 m, approachRate: 0.196361 m/s, posRepo size: 4 2025-10-27T04:02:55.424Z,1761537775.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.48 m. 2025-10-27T04:02:55.504Z,1761537775.504 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.825906 2025-10-27T04:02:55.760Z,1761537775.760 [DAT](INFO): DAT read: Rx Time:04:02:54.4462 2025-10-27T04:02:55.760Z,1761537775.760 [DAT](INFO): Rx dataTimestamp_ set to:1761537775.759743 2025-10-27T04:02:55.761Z,1761537775.761 [DAT](INFO): DAT read: Bearing 66.0, 68.4 (Local) 2025-10-27T04:02:55.762Z,1761537775.762 [DAT](INFO): Local bearing/azimuth received: Bearing 66.0, 68.4 (Local) 2025-10-27T04:02:55.764Z,1761537775.764 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.0 2025-10-27T04:02:55.769Z,1761537775.769 [DAT](INFO): DAT read: 04:02:54.4462 LVL= 15664, 12593, 23106, 24115, AGC= 49, IDX= 509, 0.34, 0.113,-0.481,-1.739,-0.220, PHS= 0.436,-0.215,-1.562, RAW= 48.6, 15.0, CAL= 44.6, 17.6, ROT= 105.4, -17.6 2025-10-27T04:02:55.771Z,1761537775.771 [DAT](INFO): got valid direction response: 04:02:54.4462 LVL= 15664, 12593, 23106, 24115, AGC= 49, IDX= 509, 0.34, 0.113,-0.481,-1.739,-0.220, PHS= 0.436,-0.215,-1.562, RAW= 48.6, 15.0, CAL= 44.6, 17.6, ROT= 105.4, -17.6 2025-10-27T04:02:55.772Z,1761537775.772 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T04:02:55.773Z,1761537775.773 [DAT](INFO): direction in FSK: [-0.253126,0.918967,0.302370] 2025-10-27T04:02:55.773Z,1761537775.773 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:55.797Z,1761537775.797 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.119010 2025-10-27T04:02:55.829Z,1761537775.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957220,-0.249913,-0.145853],[0.252845,-0.967505,-0.001621],[-0.140709,-0.038430,0.989305]] 2025-10-27T04:02:55.905Z,1761537775.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.504040 s, deltaX: -0.100000 m, approachRate: -0.198398 m/s, rangeRepo size: 4 2025-10-27T04:02:55.929Z,1761537775.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.381742 m, bearing: 268.110078 deg, lat: 36.779354 deg, lon: -121.859549 deg, deltaT: 0.504040 s, deltaX: -0.099569 m, approachRate: -0.197543 m/s, posRepo size: 4 2025-10-27T04:02:55.935Z,1761537775.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m. 2025-10-27T04:02:56.008Z,1761537776.008 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.329918 2025-10-27T04:02:56.263Z,1761537776.263 [DAT](INFO): DAT read: Rx Time:04:02:54.9464 2025-10-27T04:02:56.264Z,1761537776.264 [DAT](INFO): Rx dataTimestamp_ set to:1761537776.263577 2025-10-27T04:02:56.265Z,1761537776.265 [DAT](INFO): DAT read: Bearing 64.2, 68.5 (Local) 2025-10-27T04:02:56.265Z,1761537776.265 [DAT](INFO): Local bearing/azimuth received: Bearing 64.2, 68.5 (Local) 2025-10-27T04:02:56.268Z,1761537776.268 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.0 2025-10-27T04:02:56.273Z,1761537776.273 [DAT](INFO): DAT read: 04:02:54.9464 LVL= 15152, 13665, 25442, 24163, AGC= 50, IDX= 511,-0.19, 0.007,-0.616,-1.846,-0.335, PHS= 0.444,-0.236,-1.555, RAW= 49.5, 15.1, CAL= 45.4, 17.8, ROT= 104.6, -17.8 2025-10-27T04:02:56.294Z,1761537776.294 [DAT](INFO): got valid direction response: 04:02:54.9464 LVL= 15152, 13665, 25442, 24163, AGC= 50, IDX= 511,-0.19, 0.007,-0.616,-1.846,-0.335, PHS= 0.444,-0.236,-1.555, RAW= 49.5, 15.1, CAL= 45.4, 17.8, ROT= 104.6, -17.8 2025-10-27T04:02:56.294Z,1761537776.294 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T04:02:56.295Z,1761537776.295 [DAT](INFO): direction in FSK: [-0.240003,0.921384,0.305695] 2025-10-27T04:02:56.296Z,1761537776.296 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:56.322Z,1761537776.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957928,-0.247291,-0.145677],[0.250260,-0.968176,-0.002127],[-0.140515,-0.038495,0.989330]] 2025-10-27T04:02:56.331Z,1761537776.331 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.653177 2025-10-27T04:02:56.417Z,1761537776.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.503834 s, deltaX: 0.299999 m, approachRate: 0.595433 m/s, rangeRepo size: 4 2025-10-27T04:02:56.423Z,1761537776.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.680473 m, bearing: 267.447288 deg, lat: 36.779354 deg, lon: -121.859550 deg, deltaT: 0.503834 s, deltaX: 0.298731 m, approachRate: 0.592915 m/s, posRepo size: 4 2025-10-27T04:02:56.424Z,1761537776.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.68 m. 2025-10-27T04:02:56.512Z,1761537776.512 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.833884 2025-10-27T04:02:56.765Z,1761537776.765 [DAT](INFO): DAT read: Rx Time:04:02:55.4463 2025-10-27T04:02:56.765Z,1761537776.765 [DAT](INFO): Rx dataTimestamp_ set to:1761537776.764829 2025-10-27T04:02:56.766Z,1761537776.766 [DAT](INFO): DAT read: Bearing 66.1, 68.8 (Local) 2025-10-27T04:02:56.767Z,1761537776.767 [DAT](INFO): Local bearing/azimuth received: Bearing 66.1, 68.8 (Local) 2025-10-27T04:02:56.770Z,1761537776.770 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed -0.1 2025-10-27T04:02:56.778Z,1761537776.778 [DAT](INFO): DAT read: 04:02:55.4463 LVL= 14944, 12977, 24674, 24259, AGC= 49, IDX= 510, 0.12, 0.588,-0.023,-1.285, 0.238, PHS= 0.452,-0.216,-1.567, RAW= 48.9, 14.8, CAL= 45.0, 17.3, ROT= 105.0, -17.3 2025-10-27T04:02:56.780Z,1761537776.780 [DAT](INFO): got valid direction response: 04:02:55.4463 LVL= 14944, 12977, 24674, 24259, AGC= 49, IDX= 510, 0.12, 0.588,-0.023,-1.285, 0.238, PHS= 0.452,-0.216,-1.567, RAW= 48.9, 14.8, CAL= 45.0, 17.3, ROT= 105.0, -17.3 2025-10-27T04:02:56.780Z,1761537776.780 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T04:02:56.781Z,1761537776.781 [DAT](INFO): direction in FSK: [-0.247110,0.922228,0.297375] 2025-10-27T04:02:56.781Z,1761537776.781 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:56.817Z,1761537776.817 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.138822 2025-10-27T04:02:56.824Z,1761537776.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958615,-0.244668,-0.145585],[0.247652,-0.968846,-0.002458],[-0.140448,-0.038410,0.989343]] 2025-10-27T04:02:56.961Z,1761537776.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.501252 s, deltaX: -0.199999 m, approachRate: -0.398999 m/s, rangeRepo size: 4 2025-10-27T04:02:56.965Z,1761537776.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.481352 m, bearing: 268.078784 deg, lat: 36.779354 deg, lon: -121.859550 deg, deltaT: 0.501252 s, deltaX: -0.199121 m, approachRate: -0.397248 m/s, posRepo size: 4 2025-10-27T04:02:56.966Z,1761537776.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.48 m. 2025-10-27T04:02:57.016Z,1761537777.016 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.337890 2025-10-27T04:02:57.269Z,1761537777.269 [DAT](INFO): DAT read: Rx Time:04:02:55.9464 2025-10-27T04:02:57.269Z,1761537777.269 [DAT](INFO): Rx dataTimestamp_ set to:1761537777.268749 2025-10-27T04:02:57.270Z,1761537777.270 [DAT](INFO): DAT read: Bearing 64.6, 69.3 (Local) 2025-10-27T04:02:57.271Z,1761537777.271 [DAT](INFO): Local bearing/azimuth received: Bearing 64.6, 69.3 (Local) 2025-10-27T04:02:57.273Z,1761537777.273 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed -0.1 2025-10-27T04:02:57.278Z,1761537777.278 [DAT](INFO): DAT read: 04:02:55.9464 LVL= 14384, 12897, 24114, 23235, AGC= 49, IDX= 511,-0.34,-1.599,-2.233, 2.815,-1.966, PHS= 0.469,-0.222,-1.546, RAW= 49.7, 14.5, CAL= 45.8, 17.0, ROT= 104.2, -17.0 2025-10-27T04:02:57.279Z,1761537777.279 [DAT](INFO): got valid direction response: 04:02:55.9464 LVL= 14384, 12897, 24114, 23235, AGC= 49, IDX= 511,-0.34,-1.599,-2.233, 2.815,-1.966, PHS= 0.469,-0.222,-1.546, RAW= 49.7, 14.5, CAL= 45.8, 17.0, ROT= 104.2, -17.0 2025-10-27T04:02:57.279Z,1761537777.279 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T04:02:57.280Z,1761537777.280 [DAT](INFO): direction in FSK: [-0.234589,0.927085,0.292372] 2025-10-27T04:02:57.280Z,1761537777.280 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:57.295Z,1761537777.295 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.616930 2025-10-27T04:02:57.405Z,1761537777.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960012,-0.239069,-0.145678],[0.242149,-0.970233,-0.003522],[-0.140499,-0.038656,0.989326]] 2025-10-27T04:02:57.495Z,1761537777.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.503920 s, deltaX: 0.199999 m, approachRate: 0.396886 m/s, rangeRepo size: 4 2025-10-27T04:02:57.505Z,1761537777.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.680492 m, bearing: 267.665859 deg, lat: 36.779354 deg, lon: -121.859551 deg, deltaT: 0.503920 s, deltaX: 0.199141 m, approachRate: 0.395183 m/s, posRepo size: 4 2025-10-27T04:02:57.505Z,1761537777.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.68 m. 2025-10-27T04:02:57.520Z,1761537777.520 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.842056 2025-10-27T04:02:57.773Z,1761537777.773 [DAT](INFO): DAT read: Rx Time:04:02:56.4463 2025-10-27T04:02:57.773Z,1761537777.773 [DAT](INFO): Rx dataTimestamp_ set to:1761537777.773072 2025-10-27T04:02:57.775Z,1761537777.775 [DAT](INFO): DAT read: Bearing 64.8, 69.1 (Local) 2025-10-27T04:02:57.775Z,1761537777.775 [DAT](INFO): Local bearing/azimuth received: Bearing 64.8, 69.1 (Local) 2025-10-27T04:02:57.777Z,1761537777.777 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed -0.1 2025-10-27T04:02:57.782Z,1761537777.782 [DAT](INFO): DAT read: 04:02:56.4463 LVL= 13392, 13617, 24098, 23491, AGC= 50, IDX= 510, 0.05,-1.048,-1.687,-2.927,-1.413, PHS= 0.467,-0.228,-1.557, RAW= 49.8, 14.7, CAL= 45.8, 17.2, ROT= 104.2, -17.2 2025-10-27T04:02:57.784Z,1761537777.784 [DAT](INFO): got valid direction response: 04:02:56.4463 LVL= 13392, 13617, 24098, 23491, AGC= 50, IDX= 510, 0.05,-1.048,-1.687,-2.927,-1.413, PHS= 0.467,-0.228,-1.557, RAW= 49.8, 14.7, CAL= 45.8, 17.2, ROT= 104.2, -17.2 2025-10-27T04:02:57.784Z,1761537777.784 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T04:02:57.785Z,1761537777.785 [DAT](INFO): direction in FSK: [-0.234337,0.926090,0.295708] 2025-10-27T04:02:57.785Z,1761537777.785 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:57.794Z,1761537777.794 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.115811 2025-10-27T04:02:57.960Z,1761537777.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960742,-0.236132,-0.145659],[0.239300,-0.970936,-0.004372],[-0.140393,-0.039056,0.989325]] 2025-10-27T04:02:58.024Z,1761537778.024 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.345986 2025-10-27T04:02:58.033Z,1761537778.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.504323 s, deltaX: -0.199999 m, approachRate: -0.396569 m/s, rangeRepo size: 4 2025-10-27T04:02:58.036Z,1761537778.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.481390 m, bearing: 267.807886 deg, lat: 36.779353 deg, lon: -121.859550 deg, deltaT: 0.504323 s, deltaX: -0.199102 m, approachRate: -0.394791 m/s, posRepo size: 4 2025-10-27T04:02:58.036Z,1761537778.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.48 m. 2025-10-27T04:02:58.277Z,1761537778.277 [DAT](INFO): DAT read: Rx Time:04:02:56.9465 2025-10-27T04:02:58.277Z,1761537778.277 [DAT](INFO): Rx dataTimestamp_ set to:1761537778.276720 2025-10-27T04:02:58.278Z,1761537778.278 [DAT](INFO): DAT read: Bearing 55.2, 65.4 (Local) 2025-10-27T04:02:58.279Z,1761537778.279 [DAT](INFO): Local bearing/azimuth received: Bearing 55.2, 65.4 (Local) 2025-10-27T04:02:58.281Z,1761537778.281 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed -0.1 2025-10-27T04:02:58.286Z,1761537778.286 [DAT](INFO): DAT read: 04:02:56.9465 LVL= 14352, 13025, 25794, 26067, AGC= 50, IDX= 512,-0.35, 2.852, 2.012, 0.779, 2.495, PHS= 0.459,-0.438,-1.760, RAW= 53.7, 17.6, CAL= 49.0, 21.6, ROT= 101.0, -21.6 2025-10-27T04:02:58.287Z,1761537778.287 [DAT](INFO): got valid direction response: 04:02:56.9465 LVL= 14352, 13025, 25794, 26067, AGC= 50, IDX= 512,-0.35, 2.852, 2.012, 0.779, 2.495, PHS= 0.459,-0.438,-1.760, RAW= 53.7, 17.6, CAL= 49.0, 21.6, ROT= 101.0, -21.6 2025-10-27T04:02:58.288Z,1761537778.288 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T04:02:58.289Z,1761537778.289 [DAT](INFO): direction in FSK: [-0.177410,0.912694,0.368125] 2025-10-27T04:02:58.289Z,1761537778.289 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:58.293Z,1761537778.293 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.614542 2025-10-27T04:02:58.376Z,1761537778.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961507,-0.233000,-0.145656],[0.236238,-0.971682,-0.005092],[-0.140345,-0.039306,0.989322]] 2025-10-27T04:02:58.437Z,1761537778.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.503648 s, deltaX: 0.299999 m, approachRate: 0.595653 m/s, rangeRepo size: 4 2025-10-27T04:02:58.447Z,1761537778.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.780102 m, bearing: 264.128903 deg, lat: 36.779353 deg, lon: -121.859550 deg, deltaT: 0.503648 s, deltaX: 0.298712 m, approachRate: 0.593096 m/s, posRepo size: 4 2025-10-27T04:02:58.448Z,1761537778.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.78 m. 2025-10-27T04:02:58.528Z,1761537778.528 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.849886 2025-10-27T04:02:58.781Z,1761537778.781 [DAT](INFO): DAT read: Rx Time:04:02:57.4464 2025-10-27T04:02:58.781Z,1761537778.781 [DAT](INFO): Rx dataTimestamp_ set to:1761537778.780776 2025-10-27T04:02:58.782Z,1761537778.782 [DAT](INFO): DAT read: Bearing 66.1, 69.7 (Local) 2025-10-27T04:02:58.783Z,1761537778.783 [DAT](INFO): Local bearing/azimuth received: Bearing 66.1, 69.7 (Local) 2025-10-27T04:02:58.785Z,1761537778.785 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed -0.1 2025-10-27T04:02:58.789Z,1761537778.789 [DAT](INFO): DAT read: 04:02:57.4464 LVL= 14256, 14433, 25074, 25027, AGC= 50, IDX= 511, 0.12,-1.053,-1.689,-2.943,-1.433, PHS= 0.482,-0.211,-1.555, RAW= 49.5, 14.2, CAL= 45.8, 16.6, ROT= 104.2, -16.6 2025-10-27T04:02:58.791Z,1761537778.791 [DAT](INFO): got valid direction response: 04:02:57.4464 LVL= 14256, 14433, 25074, 25027, AGC= 50, IDX= 511, 0.12,-1.053,-1.689,-2.943,-1.433, PHS= 0.482,-0.211,-1.555, RAW= 49.5, 14.2, CAL= 45.8, 16.6, ROT= 104.2, -16.6 2025-10-27T04:02:58.791Z,1761537778.791 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T04:02:58.792Z,1761537778.792 [DAT](INFO): direction in FSK: [-0.235084,0.929041,0.285688] 2025-10-27T04:02:58.792Z,1761537778.792 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:58.821Z,1761537778.821 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.143027 2025-10-27T04:02:58.850Z,1761537778.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962280,-0.229994,-0.145327],[0.233172,-0.972423,-0.004996],[-0.140170,-0.038694,0.989371]] 2025-10-27T04:02:59.000Z,1761537779.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.504056 s, deltaX: -0.100000 m, approachRate: -0.198391 m/s, rangeRepo size: 4 2025-10-27T04:02:59.002Z,1761537779.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.680555 m, bearing: 268.270566 deg, lat: 36.779353 deg, lon: -121.859550 deg, deltaT: 0.504056 s, deltaX: -0.099546 m, approachRate: -0.197491 m/s, posRepo size: 4 2025-10-27T04:02:59.003Z,1761537779.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.68 m. 2025-10-27T04:02:59.032Z,1761537779.032 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.353887 2025-10-27T04:02:59.284Z,1761537779.284 [DAT](INFO): DAT read: Rx Time:04:02:57.9466 2025-10-27T04:02:59.285Z,1761537779.285 [DAT](INFO): Rx dataTimestamp_ set to:1761537779.284627 2025-10-27T04:02:59.286Z,1761537779.286 [DAT](INFO): DAT read: Bearing 51.8, 69.3 (Local) 2025-10-27T04:02:59.288Z,1761537779.288 [DAT](INFO): Local bearing/azimuth received: Bearing 51.8, 69.3 (Local) 2025-10-27T04:02:59.293Z,1761537779.293 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed -0.1 2025-10-27T04:02:59.298Z,1761537779.298 [DAT](INFO): DAT read: 04:02:57.9466 LVL= 13360, 13105, 23698, 23283, AGC= 49, IDX= 513,-0.19, 2.292, 1.322, 0.029, 1.762, PHS= 0.632,-0.395,-1.777, RAW= 55.1, 14.6, CAL= 51.0, 17.9, ROT= 99.0, -17.9 2025-10-27T04:02:59.299Z,1761537779.299 [DAT](INFO): got valid direction response: 04:02:57.9466 LVL= 13360, 13105, 23698, 23283, AGC= 49, IDX= 513,-0.19, 2.292, 1.322, 0.029, 1.762, PHS= 0.632,-0.395,-1.777, RAW= 55.1, 14.6, CAL= 51.0, 17.9, ROT= 99.0, -17.9 2025-10-27T04:02:59.299Z,1761537779.299 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T04:02:59.300Z,1761537779.300 [DAT](INFO): direction in FSK: [-0.148862,0.939879,0.307357] 2025-10-27T04:02:59.301Z,1761537779.301 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:59.304Z,1761537779.304 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.626206 2025-10-27T04:02:59.333Z,1761537779.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963808,-0.223859,-0.144780],[0.226895,-0.973908,-0.004599],[-0.139973,-0.037282,0.989453]] 2025-10-27T04:02:59.439Z,1761537779.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.503851 s, deltaX: 0.300001 m, approachRate: 0.595416 m/s, rangeRepo size: 4 2025-10-27T04:02:59.441Z,1761537779.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.979267 m, bearing: 263.314201 deg, lat: 36.779353 deg, lon: -121.859550 deg, deltaT: 0.503851 s, deltaX: 0.298712 m, approachRate: 0.592857 m/s, posRepo size: 4 2025-10-27T04:02:59.442Z,1761537779.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m. 2025-10-27T04:02:59.536Z,1761537779.536 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.858024 2025-10-27T04:02:59.752Z,1761537779.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:02:59.754Z,1761537779.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m. 2025-10-27T04:02:59.789Z,1761537779.789 [DAT](INFO): DAT read: Rx Time:04:02:58.4465 2025-10-27T04:02:59.790Z,1761537779.790 [DAT](INFO): Rx dataTimestamp_ set to:1761537779.789601 2025-10-27T04:02:59.792Z,1761537779.792 [DAT](INFO): DAT read: Bearing 48.8, 75.7 (Local) 2025-10-27T04:02:59.792Z,1761537779.792 [DAT](INFO): Local bearing/azimuth received: Bearing 48.8, 75.7 (Local) 2025-10-27T04:02:59.795Z,1761537779.795 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed -0.1 2025-10-27T04:02:59.802Z,1761537779.802 [DAT](INFO): DAT read: 04:02:58.4465 LVL= 14656, 13041, 25234, 24787, AGC= 49, IDX= 512, 0.37,-2.963, 2.364, 1.044, 2.634, PHS= 0.789,-0.225,-1.634, RAW= 54.6, 10.2, CAL= 52.0, 11.6, ROT= 98.0, -11.6 2025-10-27T04:02:59.803Z,1761537779.803 [DAT](INFO): got valid direction response: 04:02:58.4465 LVL= 14656, 13041, 25234, 24787, AGC= 49, IDX= 512, 0.37,-2.963, 2.364, 1.044, 2.634, PHS= 0.789,-0.225,-1.634, RAW= 54.6, 10.2, CAL= 52.0, 11.6, ROT= 98.0, -11.6 2025-10-27T04:02:59.804Z,1761537779.804 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T04:02:59.805Z,1761537779.805 [DAT](INFO): direction in FSK: [-0.136330,0.970042,0.201078] 2025-10-27T04:02:59.805Z,1761537779.805 [DAT](INFO): publishing direction and range info 2025-10-27T04:02:59.815Z,1761537779.815 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.137320 2025-10-27T04:03:00.041Z,1761537780.041 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.362660 2025-10-27T04:03:00.127Z,1761537780.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965370,-0.217237,-0.144458],[0.220456,-0.975375,-0.006471],[-0.139495,-0.038093,0.989490]] 2025-10-27T04:03:00.169Z,1761537780.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.504974 s, deltaX: -0.200001 m, approachRate: -0.396062 m/s, rangeRepo size: 4 2025-10-27T04:03:00.187Z,1761537780.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.779959 m, bearing: 263.685626 deg, lat: 36.779338 deg, lon: -121.859550 deg, deltaT: 0.504974 s, deltaX: -0.199308 m, approachRate: -0.394690 m/s, posRepo size: 4 2025-10-27T04:03:00.188Z,1761537780.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.78 m. 2025-10-27T04:03:00.293Z,1761537780.293 [DAT](INFO): DAT read: Rx Time:04:02:58.9467 2025-10-27T04:03:00.293Z,1761537780.293 [DAT](INFO): Rx dataTimestamp_ set to:1761537780.293127 2025-10-27T04:03:00.295Z,1761537780.295 [DAT](INFO): DAT read: Bearing 65.9, 70.3 (Local) 2025-10-27T04:03:00.295Z,1761537780.295 [DAT](INFO): Local bearing/azimuth received: Bearing 65.9, 70.3 (Local) 2025-10-27T04:03:00.297Z,1761537780.297 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.1 2025-10-27T04:03:00.302Z,1761537780.302 [DAT](INFO): DAT read: 04:02:58.9467 LVL= 12816, 14385, 21858, 25331, AGC= 53, IDX= 2, 0.07,-1.162,-1.813,-3.053,-1.556, PHS= 0.496,-0.211,-1.541, RAW= 50.0, 13.9, CAL= 46.3, 16.2, ROT= 103.7, -16.2 2025-10-27T04:03:00.303Z,1761537780.303 [DAT](INFO): got valid direction response: 04:02:58.9467 LVL= 12816, 14385, 21858, 25331, AGC= 53, IDX= 2, 0.07,-1.162,-1.813,-3.053,-1.556, PHS= 0.496,-0.211,-1.541, RAW= 50.0, 13.9, CAL= 46.3, 16.2, ROT= 103.7, -16.2 2025-10-27T04:03:00.304Z,1761537780.304 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T04:03:00.305Z,1761537780.305 [DAT](INFO): direction in FSK: [-0.227434,0.932972,0.278991] 2025-10-27T04:03:00.305Z,1761537780.305 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:00.317Z,1761537780.317 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.638690 2025-10-27T04:03:00.508Z,1761537780.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966109,-0.213938,-0.144447],[0.217299,-0.976075,-0.007719],[-0.139340,-0.038846,0.989482]] 2025-10-27T04:03:00.545Z,1761537780.545 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.866650 2025-10-27T04:03:00.553Z,1761537780.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.503526 s, deltaX: 0.300001 m, approachRate: 0.595801 m/s, rangeRepo size: 4 2025-10-27T04:03:00.568Z,1761537780.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.078669 m, bearing: 268.799077 deg, lat: 36.779338 deg, lon: -121.859550 deg, deltaT: 0.503526 s, deltaX: 0.298710 m, approachRate: 0.593236 m/s, posRepo size: 4 2025-10-27T04:03:00.570Z,1761537780.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.08 m. 2025-10-27T04:03:00.796Z,1761537780.796 [DAT](INFO): DAT read: Rx Time:04:02:59.4467 2025-10-27T04:03:00.797Z,1761537780.797 [DAT](INFO): Rx dataTimestamp_ set to:1761537780.796654 2025-10-27T04:03:00.798Z,1761537780.798 [DAT](INFO): DAT read: Bearing 64.5, 70.1 (Local) 2025-10-27T04:03:00.799Z,1761537780.799 [DAT](INFO): Local bearing/azimuth received: Bearing 64.5, 70.1 (Local) 2025-10-27T04:03:00.801Z,1761537780.801 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.1 2025-10-27T04:03:00.805Z,1761537780.805 [DAT](INFO): DAT read: 04:02:59.4467 LVL= 14560, 16225, 25362, 28147, AGC= 51, IDX= 498,-0.16, 2.467, 1.799, 0.581, 2.072, PHS= 0.497,-0.228,-1.535, RAW= 50.6, 14.1, CAL= 46.8, 16.5, ROT= 103.2, -16.5 2025-10-27T04:03:00.806Z,1761537780.806 [DAT](INFO): got valid direction response: 04:02:59.4467 LVL= 14560, 16225, 25362, 28147, AGC= 51, IDX= 498,-0.16, 2.467, 1.799, 0.581, 2.072, PHS= 0.497,-0.228,-1.535, RAW= 50.6, 14.1, CAL= 46.8, 16.5, ROT= 103.2, -16.5 2025-10-27T04:03:00.807Z,1761537780.807 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T04:03:00.808Z,1761537780.808 [DAT](INFO): direction in FSK: [-0.218947,0.933487,0.284015] 2025-10-27T04:03:00.808Z,1761537780.808 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:00.813Z,1761537780.813 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.134422 2025-10-27T04:03:00.923Z,1761537780.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966944,-0.210273,-0.144240],[0.213740,-0.976851,-0.008799],[-0.139051,-0.039338,0.989504]] 2025-10-27T04:03:01.023Z,1761537781.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.503527 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:01.025Z,1761537781.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.078527 m, bearing: 268.477671 deg, lat: 36.779354 deg, lon: -121.859551 deg, deltaT: 0.503527 s, deltaX: -0.000141 m, approachRate: -0.000280 m/s, posRepo size: 4 2025-10-27T04:03:01.025Z,1761537781.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.08 m. 2025-10-27T04:03:01.048Z,1761537781.048 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.370087 2025-10-27T04:03:01.301Z,1761537781.301 [DAT](INFO): DAT read: Rx Time:04:02:59.9468 2025-10-27T04:03:01.301Z,1761537781.301 [DAT](INFO): Rx dataTimestamp_ set to:1761537781.300837 2025-10-27T04:03:01.302Z,1761537781.302 [DAT](INFO): DAT read: Bearing 66.5, 70.3 (Local) 2025-10-27T04:03:01.304Z,1761537781.304 [DAT](INFO): Local bearing/azimuth received: Bearing 66.5, 70.3 (Local) 2025-10-27T04:03:01.306Z,1761537781.306 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed -0.1 2025-10-27T04:03:01.310Z,1761537781.310 [DAT](INFO): DAT read: 04:02:59.9468 LVL= 13680, 14961, 26322, 26387, AGC= 51, IDX= 498, 0.50,-2.953, 2.680, 1.444, 2.935, PHS= 0.497,-0.211,-1.536, RAW= 50.1, 13.9, CAL= 46.4, 16.2, ROT= 103.6, -16.2 2025-10-27T04:03:01.312Z,1761537781.312 [DAT](INFO): got valid direction response: 04:02:59.9468 LVL= 13680, 14961, 26322, 26387, AGC= 51, IDX= 498, 0.50,-2.953, 2.680, 1.444, 2.935, PHS= 0.497,-0.211,-1.536, RAW= 50.1, 13.9, CAL= 46.4, 16.2, ROT= 103.6, -16.2 2025-10-27T04:03:01.312Z,1761537781.312 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T04:03:01.313Z,1761537781.313 [DAT](INFO): direction in FSK: [-0.225805,0.933368,0.278991] 2025-10-27T04:03:01.313Z,1761537781.313 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:01.317Z,1761537781.317 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.638565 2025-10-27T04:03:01.449Z,1761537781.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.504183 s, deltaX: 0.199999 m, approachRate: 0.396679 m/s, rangeRepo size: 4 2025-10-27T04:03:01.456Z,1761537781.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.277666 m, bearing: 268.918895 deg, lat: 36.779354 deg, lon: -121.859553 deg, deltaT: 0.504183 s, deltaX: 0.199139 m, approachRate: 0.394973 m/s, posRepo size: 4 2025-10-27T04:03:01.457Z,1761537781.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m. 2025-10-27T04:03:01.553Z,1761537781.553 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.874781 2025-10-27T04:03:01.742Z,1761537781.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968472,-0.203947,-0.143066],[0.207328,-0.978230,-0.008976],[-0.138121,-0.038355,0.989672]] 2025-10-27T04:03:01.776Z,1761537781.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m. 2025-10-27T04:03:01.805Z,1761537781.805 [DAT](INFO): DAT read: Rx Time:04:03:00.4467 2025-10-27T04:03:01.805Z,1761537781.805 [DAT](INFO): Rx dataTimestamp_ set to:1761537781.804874 2025-10-27T04:03:01.806Z,1761537781.806 [DAT](INFO): DAT read: Bearing 68.1, 70.4 (Local) 2025-10-27T04:03:01.807Z,1761537781.807 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 70.4 (Local) 2025-10-27T04:03:01.809Z,1761537781.809 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.2 2025-10-27T04:03:01.814Z,1761537781.814 [DAT](INFO): DAT read: 04:03:00.4467 LVL= 13584, 14113, 27074, 28611, AGC= 50, IDX= 498, 0.16, 3.098, 2.459, 1.208, 2.703, PHS= 0.497,-0.199,-1.539, RAW= 49.7, 13.8, CAL= 46.0, 16.0, ROT= 104.0, -16.0 2025-10-27T04:03:01.817Z,1761537781.817 [DAT](INFO): got valid direction response: 04:03:00.4467 LVL= 13584, 14113, 27074, 28611, AGC= 50, IDX= 498, 0.16, 3.098, 2.459, 1.208, 2.703, PHS= 0.497,-0.199,-1.539, RAW= 49.7, 13.8, CAL= 46.0, 16.0, ROT= 104.0, -16.0 2025-10-27T04:03:01.818Z,1761537781.818 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T04:03:01.819Z,1761537781.819 [DAT](INFO): direction in FSK: [-0.232550,0.932708,0.275637] 2025-10-27T04:03:01.819Z,1761537781.819 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:01.833Z,1761537781.833 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.154533 2025-10-27T04:03:02.057Z,1761537782.057 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.378611 2025-10-27T04:03:02.148Z,1761537782.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969236,-0.200723,-0.142452],[0.204074,-0.978913,-0.009164],[-0.137608,-0.037953,0.989759]] 2025-10-27T04:03:02.188Z,1761537782.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.504037 s, deltaX: -0.199999 m, approachRate: -0.396794 m/s, rangeRepo size: 4 2025-10-27T04:03:02.190Z,1761537782.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.078239 m, bearing: 269.935422 deg, lat: 36.779356 deg, lon: -121.859553 deg, deltaT: 0.504037 s, deltaX: -0.199427 m, approachRate: -0.395659 m/s, posRepo size: 4 2025-10-27T04:03:02.207Z,1761537782.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.08 m. 2025-10-27T04:03:02.309Z,1761537782.309 [DAT](INFO): DAT read: Rx Time:04:03:00.9469 2025-10-27T04:03:02.309Z,1761537782.309 [DAT](INFO): Rx dataTimestamp_ set to:1761537782.308826 2025-10-27T04:03:02.310Z,1761537782.310 [DAT](INFO): DAT read: Bearing 66.9, 70.4 (Local) 2025-10-27T04:03:02.311Z,1761537782.311 [DAT](INFO): Local bearing/azimuth received: Bearing 66.9, 70.4 (Local) 2025-10-27T04:03:02.313Z,1761537782.313 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.1 2025-10-27T04:03:02.318Z,1761537782.318 [DAT](INFO): DAT read: 04:03:00.9469 LVL= 13536, 14689, 26162, 26275, AGC= 51, IDX= 500,-0.09, 2.855, 2.201, 0.976, 2.458, PHS= 0.499,-0.212,-1.526, RAW= 50.3, 13.8, CAL= 46.6, 16.1, ROT= 103.4, -16.1 2025-10-27T04:03:02.319Z,1761537782.319 [DAT](INFO): got valid direction response: 04:03:00.9469 LVL= 13536, 14689, 26162, 26275, AGC= 51, IDX= 500,-0.09, 2.855, 2.201, 0.976, 2.458, PHS= 0.499,-0.212,-1.526, RAW= 50.3, 13.8, CAL= 46.6, 16.1, ROT= 103.4, -16.1 2025-10-27T04:03:02.319Z,1761537782.319 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T04:03:02.320Z,1761537782.320 [DAT](INFO): direction in FSK: [-0.222659,0.934623,0.277315] 2025-10-27T04:03:02.321Z,1761537782.321 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:02.324Z,1761537782.324 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.646133 2025-10-27T04:03:02.563Z,1761537782.563 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.883896 2025-10-27T04:03:02.568Z,1761537782.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969978,-0.197605,-0.141755],[0.200974,-0.979548,-0.009713],[-0.136936,-0.037910,0.989854]] 2025-10-27T04:03:02.653Z,1761537782.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503952 s, deltaX: 0.299999 m, approachRate: 0.595293 m/s, rangeRepo size: 4 2025-10-27T04:03:02.660Z,1761537782.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.376944 m, bearing: 269.522646 deg, lat: 36.779356 deg, lon: -121.859552 deg, deltaT: 0.503952 s, deltaX: 0.298704 m, approachRate: 0.592723 m/s, posRepo size: 4 2025-10-27T04:03:02.660Z,1761537782.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m. 2025-10-27T04:03:02.813Z,1761537782.813 [DAT](INFO): DAT read: Rx Time:04:03:01.4469 2025-10-27T04:03:02.813Z,1761537782.813 [DAT](INFO): Rx dataTimestamp_ set to:1761537782.812713 2025-10-27T04:03:02.814Z,1761537782.814 [DAT](INFO): DAT read: Bearing 67.4, 70.9 (Local) 2025-10-27T04:03:02.815Z,1761537782.815 [DAT](INFO): Local bearing/azimuth received: Bearing 67.4, 70.9 (Local) 2025-10-27T04:03:02.817Z,1761537782.817 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.1 2025-10-27T04:03:02.822Z,1761537782.822 [DAT](INFO): DAT read: 04:03:01.4469 LVL= 13040, 14097, 24546, 25651, AGC= 50, IDX= 500,-0.46, 2.174, 1.515, 0.283, 1.764, PHS= 0.512,-0.204,-1.525, RAW= 50.3, 13.5, CAL= 46.7, 15.7, ROT= 103.3, -15.7 2025-10-27T04:03:02.823Z,1761537782.823 [DAT](INFO): got valid direction response: 04:03:01.4469 LVL= 13040, 14097, 24546, 25651, AGC= 50, IDX= 500,-0.46, 2.174, 1.515, 0.283, 1.764, PHS= 0.512,-0.204,-1.525, RAW= 50.3, 13.5, CAL= 46.7, 15.7, ROT= 103.3, -15.7 2025-10-27T04:03:02.824Z,1761537782.824 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T04:03:02.825Z,1761537782.825 [DAT](INFO): direction in FSK: [-0.221467,0.936871,0.270600] 2025-10-27T04:03:02.825Z,1761537782.825 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:02.829Z,1761537782.829 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.150736 2025-10-27T04:03:03.015Z,1761537783.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970622,-0.194795,-0.141235],[0.198231,-0.980099,-0.010542],[-0.136371,-0.038230,0.989920]] 2025-10-27T04:03:03.068Z,1761537783.068 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.388662 2025-10-27T04:03:03.172Z,1761537783.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503887 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:03.174Z,1761537783.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.376911 m, bearing: 269.658279 deg, lat: 36.779358 deg, lon: -121.859552 deg, deltaT: 0.503887 s, deltaX: -0.000032 m, approachRate: -0.000064 m/s, posRepo size: 4 2025-10-27T04:03:03.174Z,1761537783.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m. 2025-10-27T04:03:03.316Z,1761537783.316 [DAT](INFO): DAT read: Rx Time:04:03:01.9470 2025-10-27T04:03:03.317Z,1761537783.317 [DAT](INFO): Rx dataTimestamp_ set to:1761537783.316675 2025-10-27T04:03:03.318Z,1761537783.318 [DAT](INFO): DAT read: Bearing 68.5, 70.5 (Local) 2025-10-27T04:03:03.319Z,1761537783.319 [DAT](INFO): Local bearing/azimuth received: Bearing 68.5, 70.5 (Local) 2025-10-27T04:03:03.321Z,1761537783.321 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed -0.1 2025-10-27T04:03:03.325Z,1761537783.325 [DAT](INFO): DAT read: 04:03:01.9470 LVL= 13872, 14737, 25714, 25587, AGC= 51, IDX= 501, 0.11,-1.473,-2.118, 2.931,-1.867, PHS= 0.496,-0.206,-1.529, RAW= 50.0, 13.8, CAL= 46.3, 16.1, ROT= 103.7, -16.1 2025-10-27T04:03:03.326Z,1761537783.326 [DAT](INFO): got valid direction response: 04:03:01.9470 LVL= 13872, 14737, 25714, 25587, AGC= 51, IDX= 501, 0.11,-1.473,-2.118, 2.931,-1.867, PHS= 0.496,-0.206,-1.529, RAW= 50.0, 13.8, CAL= 46.3, 16.1, ROT= 103.7, -16.1 2025-10-27T04:03:03.327Z,1761537783.327 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T04:03:03.328Z,1761537783.328 [DAT](INFO): direction in FSK: [-0.227549,0.933444,0.277315] 2025-10-27T04:03:03.328Z,1761537783.328 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:03.332Z,1761537783.332 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.653963 2025-10-27T04:03:03.573Z,1761537783.573 [DAT](INFO): DAT read: Rx Time:04:03:02.4470 2025-10-27T04:03:03.574Z,1761537783.574 [DAT](INFO): Rx dataTimestamp_ set to:1761537783.573517 2025-10-27T04:03:03.577Z,1761537783.577 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.897945 2025-10-27T04:03:03.644Z,1761537783.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971225,-0.192207,-0.140635],[0.195708,-0.980596,-0.011366],[-0.135722,-0.038562,0.989996]] 2025-10-27T04:03:03.683Z,1761537783.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.503962 s, deltaX: 0.200001 m, approachRate: 0.396857 m/s, rangeRepo size: 4 2025-10-27T04:03:03.685Z,1761537783.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.576048 m, bearing: 270.153868 deg, lat: 36.779359 deg, lon: -121.859552 deg, deltaT: 0.503962 s, deltaX: 0.199137 m, approachRate: 0.395142 m/s, posRepo size: 4 2025-10-27T04:03:03.686Z,1761537783.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.58 m. 2025-10-27T04:03:03.822Z,1761537783.822 [DAT](INFO): DAT read: Bearing 67.6, 70.6 (Local) 2025-10-27T04:03:03.822Z,1761537783.822 [DAT](INFO): Local bearing/azimuth received: Bearing 67.6, 70.6 (Local) 2025-10-27T04:03:03.826Z,1761537783.826 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed -0.1 2025-10-27T04:03:03.831Z,1761537783.831 [DAT](INFO): DAT read: 04:03:02.4470 LVL= 14400, 15985, 25554, 27347, AGC= 51, IDX= 501,-0.23, 1.800, 1.142,-0.076, 1.399, PHS= 0.503,-0.212,-1.519, RAW= 50.4, 13.7, CAL= 46.7, 16.0, ROT= 103.3, -16.0 2025-10-27T04:03:03.832Z,1761537783.832 [DAT](INFO): got valid direction response: 04:03:02.4470 LVL= 14400, 15985, 25554, 27347, AGC= 51, IDX= 501,-0.23, 1.800, 1.142,-0.076, 1.399, PHS= 0.503,-0.212,-1.519, RAW= 50.4, 13.7, CAL= 46.7, 16.0, ROT= 103.3, -16.0 2025-10-27T04:03:03.833Z,1761537783.833 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T04:03:03.833Z,1761537783.833 [DAT](INFO): direction in FSK: [-0.221138,0.935480,0.275637] 2025-10-27T04:03:03.834Z,1761537783.834 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:03.838Z,1761537783.838 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.159468 2025-10-27T04:03:04.069Z,1761537784.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971869,-0.189419,-0.139971],[0.192967,-0.981131,-0.012096],[-0.135038,-0.038765,0.990082]] 2025-10-27T04:03:04.077Z,1761537784.077 [DAT](INFO): DAT read: Rx Time:04:03:02.9471 2025-10-27T04:03:04.078Z,1761537784.078 [DAT](INFO): Rx dataTimestamp_ set to:1761537784.077636 2025-10-27T04:03:04.081Z,1761537784.081 [DAT](INFO): DAT read: Bearing 70.0, 70.7 (Local) 2025-10-27T04:03:04.082Z,1761537784.082 [DAT](INFO): Local bearing/azimuth received: Bearing 70.0, 70.7 (Local) 2025-10-27T04:03:04.084Z,1761537784.084 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.405809 2025-10-27T04:03:04.195Z,1761537784.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.503441 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:04.197Z,1761537784.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.575974 m, bearing: 269.948762 deg, lat: 36.779359 deg, lon: -121.859552 deg, deltaT: 0.503441 s, deltaX: -0.000074 m, approachRate: -0.000148 m/s, posRepo size: 4 2025-10-27T04:03:04.198Z,1761537784.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.58 m. 2025-10-27T04:03:04.326Z,1761537784.326 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed -0.1 2025-10-27T04:03:04.331Z,1761537784.331 [DAT](INFO): DAT read: 04:03:02.9471 LVL= 14192, 14065, 26146, 25763, AGC= 50, IDX= 502, 0.17,-0.813,-1.449,-2.691,-1.211, PHS= 0.501,-0.193,-1.523, RAW= 49.7, 13.6, CAL= 46.1, 15.7, ROT= 103.9, -15.7 2025-10-27T04:03:04.333Z,1761537784.333 [DAT](INFO): got valid direction response: 04:03:02.9471 LVL= 14192, 14065, 26146, 25763, AGC= 50, IDX= 502, 0.17,-0.813,-1.449,-2.691,-1.211, PHS= 0.501,-0.193,-1.523, RAW= 49.7, 13.6, CAL= 46.1, 15.7, ROT= 103.9, -15.7 2025-10-27T04:03:04.333Z,1761537784.333 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T04:03:04.334Z,1761537784.334 [DAT](INFO): direction in FSK: [-0.231266,0.934501,0.270600] 2025-10-27T04:03:04.334Z,1761537784.334 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:04.338Z,1761537784.338 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.659710 2025-10-27T04:03:04.459Z,1761537784.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972415,-0.187018,-0.139403],[0.190563,-0.981596,-0.012417],[-0.134516,-0.038640,0.990158]] 2025-10-27T04:03:04.482Z,1761537784.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.503710 s, deltaX: 0.099998 m, approachRate: 0.198524 m/s, rangeRepo size: 4 2025-10-27T04:03:04.484Z,1761537784.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.675539 m, bearing: 270.736131 deg, lat: 36.779359 deg, lon: -121.859553 deg, deltaT: 0.503710 s, deltaX: 0.099566 m, approachRate: 0.197664 m/s, posRepo size: 4 2025-10-27T04:03:04.485Z,1761537784.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T04:03:04.580Z,1761537784.580 [DAT](INFO): DAT read: Rx Time:04:03:03.4471 2025-10-27T04:03:04.582Z,1761537784.582 [DAT](INFO): Rx dataTimestamp_ set to:1761537784.581035 2025-10-27T04:03:04.585Z,1761537784.585 [DAT](INFO): DAT read: Bearing 68.6, 71.0 (Local) 2025-10-27T04:03:04.586Z,1761537784.586 [DAT](INFO): Local bearing/azimuth received: Bearing 68.6, 71.0 (Local) 2025-10-27T04:03:04.591Z,1761537784.591 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.0 2025-10-27T04:03:04.593Z,1761537784.593 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-27T04:03:04.597Z,1761537784.597 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.918451 2025-10-27T04:03:04.832Z,1761537784.832 [DAT](INFO): DAT read: 04:03:03.4471 LVL= 16064, 14961, 25282, 26259, AGC= 51, IDX= 502,-0.29, 2.574, 1.915, 0.695, 2.163, PHS= 0.514,-0.203,-1.511, RAW= 50.4, 13.4, CAL= 46.8, 15.6, ROT= 103.2, -15.6 2025-10-27T04:03:04.833Z,1761537784.833 [DAT](INFO): got valid direction response: 04:03:03.4471 LVL= 16064, 14961, 25282, 26259, AGC= 51, IDX= 502,-0.29, 2.574, 1.915, 0.695, 2.163, PHS= 0.514,-0.203,-1.511, RAW= 50.4, 13.4, CAL= 46.8, 15.6, ROT= 103.2, -15.6 2025-10-27T04:03:04.833Z,1761537784.833 [DAT](INFO): #Rx 37: Read direction message, but no range. 2025-10-27T04:03:04.834Z,1761537784.834 [DAT](INFO): direction in FSK: [-0.219939,0.937715,0.268920] 2025-10-27T04:03:04.837Z,1761537784.837 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.159218 2025-10-27T04:03:04.862Z,1761537784.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972906,-0.184906,-0.138795],[0.188438,-0.982004,-0.012643],[-0.133960,-0.038455,0.990240]] 2025-10-27T04:03:04.918Z,1761537784.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.257209 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:04.925Z,1761537784.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.675539 m, bearing: 270.193798 deg, lat: 36.779360 deg, lon: -121.859553 deg, deltaT: 0.257209 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:04.926Z,1761537784.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T04:03:05.084Z,1761537785.084 [DAT](INFO): DAT read: Rx Time:04:03:03.9471 2025-10-27T04:03:05.086Z,1761537785.086 [DAT](INFO): Rx dataTimestamp_ set to:1761537785.084882 2025-10-27T04:03:05.093Z,1761537785.093 [DAT](INFO): DAT read: Bearing 70.3, 70.8 (Local) 2025-10-27T04:03:05.094Z,1761537785.094 [DAT](INFO): Local bearing/azimuth received: Bearing 70.3, 70.8 (Local) 2025-10-27T04:03:05.098Z,1761537785.098 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.0 2025-10-27T04:03:05.110Z,1761537785.110 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-27T04:03:05.124Z,1761537785.124 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.446192 2025-10-27T04:03:05.318Z,1761537785.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973951,-0.180429,-0.137348],[0.184042,-0.982819,-0.013965],[-0.132468,-0.038879,0.990424]] 2025-10-27T04:03:05.336Z,1761537785.336 [DAT](INFO): DAT read: 04:03:03.9471 LVL= 13776, 13905, 28514, 27795, AGC= 51, IDX= 502, 0.03,-2.079,-2.722, 2.325,-2.482, PHS= 0.505,-0.195,-1.521, RAW= 49.9, 13.5, CAL= 46.3, 15.7, ROT= 103.7, -15.7 2025-10-27T04:03:05.337Z,1761537785.337 [DAT](INFO): got valid direction response: 04:03:03.9471 LVL= 13776, 13905, 28514, 27795, AGC= 51, IDX= 502, 0.03,-2.079,-2.722, 2.325,-2.482, PHS= 0.505,-0.195,-1.521, RAW= 49.9, 13.5, CAL= 46.3, 15.7, ROT= 103.7, -15.7 2025-10-27T04:03:05.337Z,1761537785.337 [DAT](INFO): #Rx 39: Read direction message, but no range. 2025-10-27T04:03:05.338Z,1761537785.338 [DAT](INFO): direction in FSK: [-0.228002,0.935302,0.270600] 2025-10-27T04:03:05.342Z,1761537785.342 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.663475 2025-10-27T04:03:05.426Z,1761537785.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.503847 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:05.436Z,1761537785.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.675488 m, bearing: 270.958257 deg, lat: 36.779360 deg, lon: -121.859553 deg, deltaT: 0.503847 s, deltaX: -0.000051 m, approachRate: -0.000102 m/s, posRepo size: 4 2025-10-27T04:03:05.437Z,1761537785.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T04:03:05.590Z,1761537785.590 [DAT](INFO): DAT read: Rx Time:04:03:04.4470 2025-10-27T04:03:05.591Z,1761537785.591 [DAT](INFO): Rx dataTimestamp_ set to:1761537785.590390 2025-10-27T04:03:05.594Z,1761537785.594 [DAT](INFO): DAT read: Bearing 69.7, 70.6 (Local) 2025-10-27T04:03:05.596Z,1761537785.596 [DAT](INFO): Local bearing/azimuth received: Bearing 69.7, 70.6 (Local) 2025-10-27T04:03:05.600Z,1761537785.600 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.0 2025-10-27T04:03:05.602Z,1761537785.602 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T04:03:05.610Z,1761537785.610 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.931559 2025-10-27T04:03:05.723Z,1761537785.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974352,-0.178561,-0.136946],[0.182217,-0.983151,-0.014540],[-0.132043,-0.039121,0.990472]] 2025-10-27T04:03:05.746Z,1761537785.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.505508 s, deltaX: -0.099998 m, approachRate: -0.197818 m/s, rangeRepo size: 4 2025-10-27T04:03:05.746Z,1761537785.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T04:03:05.842Z,1761537785.842 [DAT](INFO): DAT read: 04:03:04.4470 LVL= 15488, 14513, 25490, 24355, AGC= 51, IDX= 501, 0.25,-2.505, 3.122, 1.894,-2.909, PHS= 0.505,-0.207,-1.525, RAW= 50.2, 13.7, CAL= 46.6, 15.9, ROT= 103.4, -15.9 2025-10-27T04:03:05.843Z,1761537785.843 [DAT](INFO): got valid direction response: 04:03:04.4470 LVL= 15488, 14513, 25490, 24355, AGC= 51, IDX= 501, 0.25,-2.505, 3.122, 1.894,-2.909, PHS= 0.505,-0.207,-1.525, RAW= 50.2, 13.7, CAL= 46.6, 15.9, ROT= 103.4, -15.9 2025-10-27T04:03:05.844Z,1761537785.844 [DAT](INFO): #Rx 41: Read direction message, but no range. 2025-10-27T04:03:05.845Z,1761537785.845 [DAT](INFO): direction in FSK: [-0.222882,0.935559,0.273959] 2025-10-27T04:03:05.854Z,1761537785.854 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.176081 2025-10-27T04:03:06.091Z,1761537786.091 [DAT](INFO): DAT read: Rx Time:04:03:04.9472 2025-10-27T04:03:06.092Z,1761537786.092 [DAT](INFO): Rx dataTimestamp_ set to:1761537786.091364 2025-10-27T04:03:06.100Z,1761537786.100 [DAT](INFO): DAT read: Bearing 69.5, 70.8 (Local) 2025-10-27T04:03:06.101Z,1761537786.101 [DAT](INFO): Local bearing/azimuth received: Bearing 69.5, 70.8 (Local) 2025-10-27T04:03:06.128Z,1761537786.128 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 2025-10-27T04:03:06.144Z,1761537786.144 [DAT](INFO): DAT read: 04:03:04.9472 LVL= 12528, 13585, 25266, 24563, AGC= 51, IDX= 503,-0.45,-1.931,-2.592, 2.472,-2.343, PHS= 0.514,-0.204,-1.512, RAW= 50.4, 13.4, CAL= 46.9, 15.6, ROT= 103.1, -15.6 2025-10-27T04:03:06.145Z,1761537786.145 [DAT](INFO): got valid direction response: 04:03:04.9472 LVL= 12528, 13585, 25266, 24563, AGC= 51, IDX= 503,-0.45,-1.931,-2.592, 2.472,-2.343, PHS= 0.514,-0.204,-1.512, RAW= 50.4, 13.4, CAL= 46.9, 15.6, ROT= 103.1, -15.6 2025-10-27T04:03:06.145Z,1761537786.145 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T04:03:06.146Z,1761537786.146 [DAT](INFO): direction in FSK: [-0.218302,0.938097,0.268920] 2025-10-27T04:03:06.146Z,1761537786.146 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:06.154Z,1761537786.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974799,-0.176479,-0.136465],[0.180209,-0.983508,-0.015386],[-0.131499,-0.039590,0.990525]] 2025-10-27T04:03:06.166Z,1761537786.166 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.488304 2025-10-27T04:03:06.268Z,1761537786.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.500974 s, deltaX: 0.299999 m, approachRate: 0.598832 m/s, rangeRepo size: 4 2025-10-27T04:03:06.270Z,1761537786.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.874666 m, bearing: 270.625543 deg, lat: 36.779361 deg, lon: -121.859554 deg, deltaT: 1.006482 s, deltaX: 0.199179 m, approachRate: 0.197896 m/s, posRepo size: 4 2025-10-27T04:03:06.279Z,1761537786.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:06.341Z,1761537786.341 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.662790 2025-10-27T04:03:06.521Z,1761537786.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975095,-0.175107,-0.136115],[0.178879,-0.983743,-0.015895],[-0.131119,-0.039847,0.990566]] 2025-10-27T04:03:06.596Z,1761537786.596 [DAT](INFO): DAT read: Rx Time:04:03:05.4471 2025-10-27T04:03:06.597Z,1761537786.597 [DAT](INFO): Rx dataTimestamp_ set to:1761537786.596594 2025-10-27T04:03:06.601Z,1761537786.601 [DAT](INFO): DAT read: Bearing 70.8, 71.4 (Local) 2025-10-27T04:03:06.602Z,1761537786.602 [DAT](INFO): Local bearing/azimuth received: Bearing 70.8, 71.4 (Local) 2025-10-27T04:03:06.612Z,1761537786.612 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.0 2025-10-27T04:03:06.622Z,1761537786.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:06.615Z,1761537786.615 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-27T04:03:06.624Z,1761537786.624 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.945627 2025-10-27T04:03:06.849Z,1761537786.849 [DAT](INFO): DAT read: 04:03:05.4471 LVL= 12192, 13857, 27282, 24291, AGC= 50, IDX= 502,-0.24, 2.624, 1.968, 0.734, 2.199, PHS= 0.527,-0.186,-1.509, RAW= 50.2, 13.0, CAL= 46.8, 15.0, ROT= 103.2, -15.0 2025-10-27T04:03:06.850Z,1761537786.850 [DAT](INFO): got valid direction response: 04:03:05.4471 LVL= 12192, 13857, 27282, 24291, AGC= 50, IDX= 502,-0.24, 2.624, 1.968, 0.734, 2.199, PHS= 0.527,-0.186,-1.509, RAW= 50.2, 13.0, CAL= 46.8, 15.0, ROT= 103.2, -15.0 2025-10-27T04:03:06.851Z,1761537786.851 [DAT](INFO): #Rx 44: Read direction message, but no range. 2025-10-27T04:03:06.852Z,1761537786.852 [DAT](INFO): direction in FSK: [-0.220570,0.940405,0.258819] 2025-10-27T04:03:06.856Z,1761537786.856 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.177729 2025-10-27T04:03:06.935Z,1761537786.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975566,-0.172949,-0.135500],[0.176774,-0.984111,-0.016629],[-0.130471,-0.040175,0.990638]] 2025-10-27T04:03:06.989Z,1761537786.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.505230 s, deltaX: -0.200001 m, approachRate: -0.395861 m/s, rangeRepo size: 4 2025-10-27T04:03:06.995Z,1761537786.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.675419 m, bearing: 271.033031 deg, lat: 36.779363 deg, lon: -121.859554 deg, deltaT: 0.505230 s, deltaX: -0.199247 m, approachRate: -0.394370 m/s, posRepo size: 4 2025-10-27T04:03:06.996Z,1761537786.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T04:03:07.104Z,1761537787.104 [DAT](INFO): DAT read: Rx Time:04:03:05.9472 2025-10-27T04:03:07.105Z,1761537787.105 [DAT](INFO): Rx dataTimestamp_ set to:1761537787.104240 2025-10-27T04:03:07.108Z,1761537787.108 [DAT](INFO): DAT read: Bearing 69.7, 70.2 (Local) 2025-10-27T04:03:07.109Z,1761537787.109 [DAT](INFO): Local bearing/azimuth received: Bearing 69.7, 70.2 (Local) 2025-10-27T04:03:07.114Z,1761537787.114 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 2025-10-27T04:03:07.117Z,1761537787.117 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-27T04:03:07.121Z,1761537787.121 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.441856 2025-10-27T04:03:07.329Z,1761537787.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975898,-0.171546,-0.134888],[0.175351,-0.984363,-0.016765],[-0.129903,-0.040013,0.990719]] 2025-10-27T04:03:07.356Z,1761537787.356 [DAT](INFO): DAT read: 04:03:05.9472 LVL= 13584, 13905, 23442, 24003, AGC= 51, IDX= 503,-0.08,-2.079,-2.741, 2.333,-2.477, PHS= 0.501,-0.218,-1.517, RAW= 50.6, 13.8, CAL= 46.9, 16.2, ROT= 103.1, -16.2 2025-10-27T04:03:07.357Z,1761537787.357 [DAT](INFO): got valid direction response: 04:03:05.9472 LVL= 13584, 13905, 23442, 24003, AGC= 51, IDX= 503,-0.08,-2.079,-2.741, 2.333,-2.477, PHS= 0.501,-0.218,-1.517, RAW= 50.6, 13.8, CAL= 46.9, 16.2, ROT= 103.1, -16.2 2025-10-27T04:03:07.357Z,1761537787.357 [DAT](INFO): #Rx 46: Read direction message, but no range. 2025-10-27T04:03:07.358Z,1761537787.358 [DAT](INFO): direction in FSK: [-0.217652,0.935303,0.278991] 2025-10-27T04:03:07.362Z,1761537787.362 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.683884 2025-10-27T04:03:07.439Z,1761537787.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.507646 s, deltaX: 0.200001 m, approachRate: 0.393977 m/s, rangeRepo size: 4 2025-10-27T04:03:07.445Z,1761537787.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.874556 m, bearing: 270.851840 deg, lat: 36.779362 deg, lon: -121.859553 deg, deltaT: 0.507646 s, deltaX: 0.199137 m, approachRate: 0.392275 m/s, posRepo size: 4 2025-10-27T04:03:07.445Z,1761537787.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:07.608Z,1761537787.608 [DAT](INFO): DAT read: Rx Time:04:03:06.4471 2025-10-27T04:03:07.610Z,1761537787.610 [DAT](INFO): Rx dataTimestamp_ set to:1761537787.609168 2025-10-27T04:03:07.613Z,1761537787.613 [DAT](INFO): DAT read: Bearing 72.4, 71.1 (Local) 2025-10-27T04:03:07.614Z,1761537787.614 [DAT](INFO): Local bearing/azimuth received: Bearing 72.4, 71.1 (Local) 2025-10-27T04:03:07.624Z,1761537787.624 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.0 2025-10-27T04:03:07.648Z,1761537787.648 [DAT](INFO): DAT read: 04:03:06.4471 LVL= 13424, 13729, 27106, 26579, AGC= 50, IDX= 502, 0.02,-2.244,-2.889, 2.143,-2.664, PHS= 0.521,-0.181,-1.521, RAW= 49.8, 13.1, CAL= 46.4, 15.1, ROT= 103.6, -15.1 2025-10-27T04:03:07.650Z,1761537787.650 [DAT](INFO): got valid direction response: 04:03:06.4471 LVL= 13424, 13729, 27106, 26579, AGC= 50, IDX= 502, 0.02,-2.244,-2.889, 2.143,-2.664, PHS= 0.521,-0.181,-1.521, RAW= 49.8, 13.1, CAL= 46.4, 15.1, ROT= 103.6, -15.1 2025-10-27T04:03:07.650Z,1761537787.650 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T04:03:07.663Z,1761537787.663 [DAT](INFO): direction in FSK: [-0.227023,0.938402,0.260505] 2025-10-27T04:03:07.664Z,1761537787.664 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:07.676Z,1761537787.676 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.997416 2025-10-27T04:03:07.736Z,1761537787.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976263,-0.169803,-0.134453],[0.173622,-0.984663,-0.017125],[-0.129483,-0.040062,0.990772]] 2025-10-27T04:03:07.792Z,1761537787.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.504928 s, deltaX: -0.200001 m, approachRate: -0.396098 m/s, rangeRepo size: 4 2025-10-27T04:03:07.794Z,1761537787.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.675419 m, bearing: 271.613598 deg, lat: 36.779363 deg, lon: -121.859553 deg, deltaT: 0.504928 s, deltaX: -0.199137 m, approachRate: -0.394386 m/s, posRepo size: 4 2025-10-27T04:03:07.794Z,1761537787.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T04:03:07.857Z,1761537787.857 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.178577 2025-10-27T04:03:08.114Z,1761537788.114 [DAT](INFO): DAT read: Rx Time:04:03:06.9472 2025-10-27T04:03:08.118Z,1761537788.118 [DAT](INFO): Rx dataTimestamp_ set to:1761537788.116815 2025-10-27T04:03:08.121Z,1761537788.121 [DAT](INFO): DAT read: Bearing 73.1, 71.2 (Local) 2025-10-27T04:03:08.121Z,1761537788.121 [DAT](INFO): Local bearing/azimuth received: Bearing 73.1, 71.2 (Local) 2025-10-27T04:03:08.145Z,1761537788.145 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 2025-10-27T04:03:08.150Z,1761537788.150 [DAT](INFO): DAT read: 04:03:06.9472 LVL= 13664, 14161, 26226, 24867, AGC= 49, IDX= 503, 0.15,-0.582,-1.226,-2.484,-1.006, PHS= 0.526,-0.175,-1.521, RAW= 49.7, 12.9, CAL= 46.3, 14.9, ROT= 103.7, -14.9 2025-10-27T04:03:08.179Z,1761537788.179 [DAT](INFO): got valid direction response: 04:03:06.9472 LVL= 13664, 14161, 26226, 24867, AGC= 49, IDX= 503, 0.15,-0.582,-1.226,-2.484,-1.006, PHS= 0.526,-0.175,-1.521, RAW= 49.7, 12.9, CAL= 46.3, 14.9, ROT= 103.7, -14.9 2025-10-27T04:03:08.180Z,1761537788.180 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T04:03:08.181Z,1761537788.181 [DAT](INFO): direction in FSK: [-0.228875,0.938882,0.257133] 2025-10-27T04:03:08.181Z,1761537788.181 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:08.197Z,1761537788.197 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.518555 2025-10-27T04:03:08.296Z,1761537788.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.507647 s, deltaX: 0.200001 m, approachRate: 0.393976 m/s, rangeRepo size: 4 2025-10-27T04:03:08.298Z,1761537788.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.874519 m, bearing: 271.741173 deg, lat: 36.779363 deg, lon: -121.859553 deg, deltaT: 0.507647 s, deltaX: 0.199100 m, approachRate: 0.392203 m/s, posRepo size: 4 2025-10-27T04:03:08.299Z,1761537788.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:08.361Z,1761537788.361 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.682217 2025-10-27T04:03:08.552Z,1761537788.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976995,-0.166295,-0.133520],[0.170084,-0.985276,-0.017417],[-0.128657,-0.039726,0.990893]] 2025-10-27T04:03:08.616Z,1761537788.616 [DAT](INFO): DAT read: Rx Time:04:03:07.4472 2025-10-27T04:03:08.618Z,1761537788.618 [DAT](INFO): Rx dataTimestamp_ set to:1761537788.617002 2025-10-27T04:03:08.621Z,1761537788.621 [DAT](INFO): DAT read: Bearing 73.6, 70.7 (Local) 2025-10-27T04:03:08.622Z,1761537788.622 [DAT](INFO): Local bearing/azimuth received: Bearing 73.6, 70.7 (Local) 2025-10-27T04:03:08.624Z,1761537788.624 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 2025-10-27T04:03:08.629Z,1761537788.629 [DAT](INFO): DAT read: 04:03:07.4472 LVL= 13680, 13377, 24882, 24819, AGC= 50, IDX= 502, 0.34,-1.584,-2.221, 2.806,-1.994, PHS= 0.512,-0.182,-1.527, RAW= 49.6, 13.3, CAL= 46.1, 15.3, ROT= 103.9, -15.3 2025-10-27T04:03:08.630Z,1761537788.630 [DAT](INFO): got valid direction response: 04:03:07.4472 LVL= 13680, 13377, 24882, 24819, AGC= 50, IDX= 502, 0.34,-1.584,-2.221, 2.806,-1.994, PHS= 0.512,-0.182,-1.527, RAW= 49.6, 13.3, CAL= 46.1, 15.3, ROT= 103.9, -15.3 2025-10-27T04:03:08.630Z,1761537788.630 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T04:03:08.632Z,1761537788.632 [DAT](INFO): direction in FSK: [-0.231714,0.936312,0.263873] 2025-10-27T04:03:08.632Z,1761537788.632 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:08.636Z,1761537788.636 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.958220 2025-10-27T04:03:08.711Z,1761537788.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.500187 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:08.714Z,1761537788.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.874519 m, bearing: 272.100363 deg, lat: 36.779365 deg, lon: -121.859553 deg, deltaT: 0.500187 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:08.727Z,1761537788.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:08.864Z,1761537788.864 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.185978 2025-10-27T04:03:09.003Z,1761537789.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977402,-0.164290,-0.133022],[0.168052,-0.985623,-0.017483],[-0.128237,-0.039442,0.990959]] 2025-10-27T04:03:09.024Z,1761537789.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:09.120Z,1761537789.120 [DAT](INFO): DAT read: Rx Time:04:03:07.9472 2025-10-27T04:03:09.121Z,1761537789.121 [DAT](INFO): Rx dataTimestamp_ set to:1761537789.120864 2025-10-27T04:03:09.123Z,1761537789.123 [DAT](INFO): DAT read: Bearing 73.6, 71.8 (Local) 2025-10-27T04:03:09.123Z,1761537789.123 [DAT](INFO): Local bearing/azimuth received: Bearing 73.6, 71.8 (Local) 2025-10-27T04:03:09.125Z,1761537789.125 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.0 2025-10-27T04:03:09.130Z,1761537789.130 [DAT](INFO): DAT read: 04:03:07.9472 LVL= 13264, 14193, 25410, 25187, AGC= 49, IDX= 503,-0.29, 2.797, 2.147, 0.885, 2.354, PHS= 0.545,-0.163,-1.513, RAW= 49.8, 12.4, CAL= 46.6, 14.2, ROT= 103.4, -14.2 2025-10-27T04:03:09.135Z,1761537789.135 [DAT](INFO): got valid direction response: 04:03:07.9472 LVL= 13264, 14193, 25410, 25187, AGC= 49, IDX= 503,-0.29, 2.797, 2.147, 0.885, 2.354, PHS= 0.545,-0.163,-1.513, RAW= 49.8, 12.4, CAL= 46.6, 14.2, ROT= 103.4, -14.2 2025-10-27T04:03:09.135Z,1761537789.135 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T04:03:09.136Z,1761537789.136 [DAT](INFO): direction in FSK: [-0.224667,0.943053,0.245307] 2025-10-27T04:03:09.137Z,1761537789.137 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:09.145Z,1761537789.145 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.466719 2025-10-27T04:03:09.368Z,1761537789.368 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.689747 2025-10-27T04:03:09.398Z,1761537789.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977793,-0.162270,-0.132628],[0.166000,-0.985971,-0.017489],[-0.127930,-0.039117,0.991012]] 2025-10-27T04:03:09.449Z,1761537789.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.503862 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:09.451Z,1761537789.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.874538 m, bearing: 272.011275 deg, lat: 36.779365 deg, lon: -121.859553 deg, deltaT: 0.503862 s, deltaX: 0.000019 m, approachRate: 0.000038 m/s, posRepo size: 4 2025-10-27T04:03:09.451Z,1761537789.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:09.627Z,1761537789.627 [DAT](INFO): DAT read: Rx Time:04:03:08.4471 2025-10-27T04:03:09.628Z,1761537789.628 [DAT](INFO): Rx dataTimestamp_ set to:1761537789.627676 2025-10-27T04:03:09.629Z,1761537789.629 [DAT](INFO): DAT read: Bearing 72.1, 70.7 (Local) 2025-10-27T04:03:09.630Z,1761537789.630 [DAT](INFO): Local bearing/azimuth received: Bearing 72.1, 70.7 (Local) 2025-10-27T04:03:09.632Z,1761537789.632 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed -0.1 2025-10-27T04:03:09.638Z,1761537789.638 [DAT](INFO): DAT read: 04:03:08.4471 LVL= 12912, 13089, 22466, 22291, AGC= 51, IDX= 502, 0.01, 2.840, 2.179, 0.939, 2.423, PHS= 0.519,-0.199,-1.528, RAW= 50.2, 13.3, CAL= 46.7, 15.5, ROT= 103.3, -15.5 2025-10-27T04:03:09.649Z,1761537789.649 [DAT](INFO): got valid direction response: 04:03:08.4471 LVL= 12912, 13089, 22466, 22291, AGC= 51, IDX= 502, 0.01, 2.840, 2.179, 0.939, 2.423, PHS= 0.519,-0.199,-1.528, RAW= 50.2, 13.3, CAL= 46.7, 15.5, ROT= 103.3, -15.5 2025-10-27T04:03:09.650Z,1761537789.650 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T04:03:09.651Z,1761537789.651 [DAT](INFO): direction in FSK: [-0.221683,0.937785,0.267238] 2025-10-27T04:03:09.655Z,1761537789.655 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:09.659Z,1761537789.659 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.980417 2025-10-27T04:03:09.802Z,1761537789.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978191,-0.160241,-0.132157],[0.163948,-0.986312,-0.017589],[-0.127529,-0.038872,0.991073]] 2025-10-27T04:03:09.858Z,1761537789.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.506812 s, deltaX: -0.200001 m, approachRate: -0.394625 m/s, rangeRepo size: 4 2025-10-27T04:03:09.864Z,1761537789.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.675404 m, bearing: 271.853421 deg, lat: 36.779365 deg, lon: -121.859553 deg, deltaT: 0.506812 s, deltaX: -0.199135 m, approachRate: -0.392917 m/s, posRepo size: 4 2025-10-27T04:03:09.865Z,1761537789.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T04:03:09.872Z,1761537789.872 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.193808 2025-10-27T04:03:10.128Z,1761537790.128 [DAT](INFO): DAT read: Rx Time:04:03:08.9473 2025-10-27T04:03:10.129Z,1761537790.129 [DAT](INFO): Rx dataTimestamp_ set to:1761537790.128257 2025-10-27T04:03:10.133Z,1761537790.133 [DAT](INFO): DAT read: Bearing 73.7, 71.8 (Local) 2025-10-27T04:03:10.134Z,1761537790.134 [DAT](INFO): Local bearing/azimuth received: Bearing 73.7, 71.8 (Local) 2025-10-27T04:03:10.141Z,1761537790.141 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed -0.1 2025-10-27T04:03:10.144Z,1761537790.144 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-27T04:03:10.146Z,1761537790.146 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.467525 2025-10-27T04:03:10.264Z,1761537790.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.500581 s, deltaX: 0.300001 m, approachRate: 0.599306 m/s, rangeRepo size: 4 2025-10-27T04:03:10.264Z,1761537790.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T04:03:10.380Z,1761537790.380 [DAT](INFO): DAT read: 04:03:08.9473 LVL= 12272, 12833, 23986, 22515, AGC= 50, IDX= 504,-0.49, 2.878, 2.223, 0.962, 2.434, PHS= 0.546,-0.166,-1.516, RAW= 49.9, 12.5, CAL= 46.6, 14.3, ROT= 103.4, -14.3 2025-10-27T04:03:10.381Z,1761537790.381 [DAT](INFO): got valid direction response: 04:03:08.9473 LVL= 12272, 12833, 23986, 22515, AGC= 50, IDX= 504,-0.49, 2.878, 2.223, 0.962, 2.434, PHS= 0.546,-0.166,-1.516, RAW= 49.9, 12.5, CAL= 46.6, 14.3, ROT= 103.4, -14.3 2025-10-27T04:03:10.381Z,1761537790.381 [DAT](INFO): #Rx 53: Read direction message, but no range. 2025-10-27T04:03:10.382Z,1761537790.382 [DAT](INFO): direction in FSK: [-0.224567,0.942635,0.246999] 2025-10-27T04:03:10.385Z,1761537790.385 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.707262 2025-10-27T04:03:10.628Z,1761537790.628 [DAT](INFO): DAT read: Rx Time:04:03:09.4472 2025-10-27T04:03:10.629Z,1761537790.629 [DAT](INFO): Rx dataTimestamp_ set to:1761537790.628654 2025-10-27T04:03:10.630Z,1761537790.630 [DAT](INFO): DAT read: Bearing 73.8, 71.6 (Local) 2025-10-27T04:03:10.630Z,1761537790.630 [DAT](INFO): Local bearing/azimuth received: Bearing 73.8, 71.6 (Local) 2025-10-27T04:03:10.633Z,1761537790.633 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed -0.1 2025-10-27T04:03:10.638Z,1761537790.638 [DAT](INFO): DAT read: 04:03:09.4472 LVL= 13264, 12673, 25314, 22771, AGC= 50, IDX= 503, 0.06, 2.201, 1.542, 0.280, 1.761, PHS= 0.542,-0.174,-1.525, RAW= 49.9, 12.7, CAL= 46.6, 14.6, ROT= 103.4, -14.6 2025-10-27T04:03:10.639Z,1761537790.639 [DAT](INFO): got valid direction response: 04:03:09.4472 LVL= 13264, 12673, 25314, 22771, AGC= 50, IDX= 503, 0.06, 2.201, 1.542, 0.280, 1.761, PHS= 0.542,-0.174,-1.525, RAW= 49.9, 12.7, CAL= 46.6, 14.6, ROT= 103.4, -14.6 2025-10-27T04:03:10.639Z,1761537790.639 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T04:03:10.640Z,1761537790.640 [DAT](INFO): direction in FSK: [-0.224265,0.941364,0.252069] 2025-10-27T04:03:10.640Z,1761537790.640 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:10.644Z,1761537790.644 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.965986 2025-10-27T04:03:10.672Z,1761537790.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979035,-0.155675,-0.131360],[0.159383,-0.987050,-0.018139],[-0.126835,-0.038696,0.991169]] 2025-10-27T04:03:10.739Z,1761537790.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.500397 s, deltaX: -0.100000 m, approachRate: -0.199842 m/s, rangeRepo size: 4 2025-10-27T04:03:10.741Z,1761537790.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.874411 m, bearing: 272.356953 deg, lat: 36.779366 deg, lon: -121.859553 deg, deltaT: 1.000978 s, deltaX: 0.199007 m, approachRate: 0.198813 m/s, posRepo size: 4 2025-10-27T04:03:10.741Z,1761537790.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:10.880Z,1761537790.880 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.201918 2025-10-27T04:03:11.067Z,1761537791.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979439,-0.153379,-0.131046],[0.157091,-0.987413,-0.018409],[-0.126573,-0.038617,0.991205]] 2025-10-27T04:03:11.138Z,1761537791.138 [DAT](INFO): DAT read: Rx Time:04:03:09.9474 2025-10-27T04:03:11.140Z,1761537791.140 [DAT](INFO): Rx dataTimestamp_ set to:1761537791.138998 2025-10-27T04:03:11.144Z,1761537791.144 [DAT](INFO): DAT read: Bearing 73.9, 72.1 (Local) 2025-10-27T04:03:11.145Z,1761537791.145 [DAT](INFO): Local bearing/azimuth received: Bearing 73.9, 72.1 (Local) 2025-10-27T04:03:11.148Z,1761537791.148 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed -0.2 2025-10-27T04:03:11.161Z,1761537791.161 [DAT](INFO): DAT read: 04:03:09.9474 LVL= 12576, 13377, 25202, 23667, AGC= 50, IDX= 505,-0.17, 1.343, 0.680,-0.580, 0.891, PHS= 0.553,-0.166,-1.515, RAW= 50.0, 12.4, CAL= 46.8, 14.1, ROT= 103.2, -14.1 2025-10-27T04:03:11.168Z,1761537791.168 [DAT](INFO): got valid direction response: 04:03:09.9474 LVL= 12576, 13377, 25202, 23667, AGC= 50, IDX= 505,-0.17, 1.343, 0.680,-0.580, 0.891, PHS= 0.553,-0.166,-1.515, RAW= 50.0, 12.4, CAL= 46.8, 14.1, ROT= 103.2, -14.1 2025-10-27T04:03:11.168Z,1761537791.168 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T04:03:11.169Z,1761537791.169 [DAT](INFO): direction in FSK: [-0.221471,0.944247,0.243615] 2025-10-27T04:03:11.170Z,1761537791.170 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:11.173Z,1761537791.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.510344 s, deltaX: 0.299999 m, approachRate: 0.587837 m/s, rangeRepo size: 4 2025-10-27T04:03:11.173Z,1761537791.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:11.181Z,1761537791.181 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.503239 2025-10-27T04:03:11.387Z,1761537791.387 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.708614 2025-10-27T04:03:11.458Z,1761537791.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979857,-0.150985,-0.130706],[0.154706,-0.987783,-0.018739],[-0.126280,-0.038583,0.991244]] 2025-10-27T04:03:11.506Z,1761537791.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.87 m. 2025-10-27T04:03:11.637Z,1761537791.637 [DAT](INFO): DAT read: Rx Time:04:03:10.4474 2025-10-27T04:03:11.637Z,1761537791.637 [DAT](INFO): Rx dataTimestamp_ set to:1761537791.636703 2025-10-27T04:03:11.638Z,1761537791.638 [DAT](INFO): DAT read: Bearing 73.2, 71.8 (Local) 2025-10-27T04:03:11.639Z,1761537791.639 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, 71.8 (Local) 2025-10-27T04:03:11.641Z,1761537791.641 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed -0.2 2025-10-27T04:03:11.669Z,1761537791.669 [DAT](INFO): DAT read: 04:03:10.4474 LVL= 13952, 15217, 30882, 28275, AGC= 50, IDX= 505,-0.39,-0.179,-0.847,-2.090,-0.622, PHS= 0.544,-0.181,-1.512, RAW= 50.3, 12.7, CAL= 47.0, 14.6, ROT= 103.0, -14.6 2025-10-27T04:03:11.670Z,1761537791.670 [DAT](INFO): got valid direction response: 04:03:10.4474 LVL= 13952, 15217, 30882, 28275, AGC= 50, IDX= 505,-0.39,-0.179,-0.847,-2.090,-0.622, PHS= 0.544,-0.181,-1.512, RAW= 50.3, 12.7, CAL= 47.0, 14.6, ROT= 103.0, -14.6 2025-10-27T04:03:11.670Z,1761537791.670 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T04:03:11.675Z,1761537791.675 [DAT](INFO): direction in FSK: [-0.217687,0.942907,0.252069] 2025-10-27T04:03:11.676Z,1761537791.676 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:11.706Z,1761537791.706 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.026625 2025-10-27T04:03:11.862Z,1761537791.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980368,-0.148064,-0.130213],[0.151843,-0.988212,-0.019535],[-0.125786,-0.038924,0.991294]] 2025-10-27T04:03:11.888Z,1761537791.888 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.209946 2025-10-27T04:03:11.891Z,1761537791.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.497705 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:11.893Z,1761537791.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.173174 m, bearing: 272.419739 deg, lat: 36.779366 deg, lon: -121.859552 deg, deltaT: 1.008049 s, deltaX: 0.298763 m, approachRate: 0.296378 m/s, posRepo size: 4 2025-10-27T04:03:11.893Z,1761537791.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.17 m. 2025-10-27T04:03:12.151Z,1761537792.151 [DAT](INFO): DAT read: Rx Time:04:03:10.9476 2025-10-27T04:03:12.153Z,1761537792.153 [DAT](INFO): Rx dataTimestamp_ set to:1761537792.151849 2025-10-27T04:03:12.159Z,1761537792.159 [DAT](INFO): DAT read: Bearing 73.1, 71.6 (Local) 2025-10-27T04:03:12.160Z,1761537792.160 [DAT](INFO): Local bearing/azimuth received: Bearing 73.1, 71.6 (Local) 2025-10-27T04:03:12.166Z,1761537792.166 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed -0.2 2025-10-27T04:03:12.178Z,1761537792.178 [DAT](INFO): DAT read: 04:03:10.9476 LVL= 13456, 14321, 26386, 24291, AGC= 50, IDX= 506, 0.35, 2.245, 1.570, 0.319, 1.803, PHS= 0.544,-0.188,-1.527, RAW= 50.4, 12.8, CAL= 47.0, 14.8, ROT= 103.0, -14.8 2025-10-27T04:03:12.180Z,1761537792.180 [DAT](INFO): got valid direction response: 04:03:10.9476 LVL= 13456, 14321, 26386, 24291, AGC= 50, IDX= 506, 0.35, 2.245, 1.570, 0.319, 1.803, PHS= 0.544,-0.188,-1.527, RAW= 50.4, 12.8, CAL= 47.0, 14.8, ROT= 103.0, -14.8 2025-10-27T04:03:12.180Z,1761537792.180 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T04:03:12.181Z,1761537792.181 [DAT](INFO): direction in FSK: [-0.217488,0.942044,0.255446] 2025-10-27T04:03:12.181Z,1761537792.181 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:12.185Z,1761537792.185 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.506676 2025-10-27T04:03:12.293Z,1761537792.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980839,-0.145308,-0.129771],[0.149138,-0.988609,-0.020253],[-0.125350,-0.039219,0.991337]] 2025-10-27T04:03:12.400Z,1761537792.400 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.721897 2025-10-27T04:03:12.404Z,1761537792.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.515146 s, deltaX: 0.300001 m, approachRate: 0.582361 m/s, rangeRepo size: 4 2025-10-27T04:03:12.406Z,1761537792.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.472210 m, bearing: 272.557891 deg, lat: 36.779366 deg, lon: -121.859552 deg, deltaT: 0.515146 s, deltaX: 0.299036 m, approachRate: 0.580488 m/s, posRepo size: 4 2025-10-27T04:03:12.407Z,1761537792.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m. 2025-10-27T04:03:12.653Z,1761537792.653 [DAT](INFO): DAT read: Rx Time:04:03:11.4475 2025-10-27T04:03:12.653Z,1761537792.653 [DAT](INFO): Rx dataTimestamp_ set to:1761537792.652706 2025-10-27T04:03:12.654Z,1761537792.654 [DAT](INFO): DAT read: Bearing 73.5, 71.1 (Local) 2025-10-27T04:03:12.655Z,1761537792.655 [DAT](INFO): Local bearing/azimuth received: Bearing 73.5, 71.1 (Local) 2025-10-27T04:03:12.662Z,1761537792.662 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed -0.2 2025-10-27T04:03:12.683Z,1761537792.683 [DAT](INFO): DAT read: 04:03:11.4475 LVL= 15312, 16881, 27042, 25875, AGC= 52, IDX= 506, 0.23, 1.158, 0.488,-0.758, 0.730, PHS= 0.530,-0.196,-1.531, RAW= 50.3, 13.2, CAL= 46.8, 15.2, ROT= 103.2, -15.2 2025-10-27T04:03:12.684Z,1761537792.684 [DAT](INFO): got valid direction response: 04:03:11.4475 LVL= 15312, 16881, 27042, 25875, AGC= 52, IDX= 506, 0.23, 1.158, 0.488,-0.758, 0.730, PHS= 0.530,-0.196,-1.531, RAW= 50.3, 13.2, CAL= 46.8, 15.2, ROT= 103.2, -15.2 2025-10-27T04:03:12.684Z,1761537792.684 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T04:03:12.685Z,1761537792.685 [DAT](INFO): direction in FSK: [-0.220362,0.939520,0.262189] 2025-10-27T04:03:12.686Z,1761537792.686 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:12.720Z,1761537792.720 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.024406 2025-10-27T04:03:12.724Z,1761537792.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981285,-0.142675,-0.129316],[0.146553,-0.988981,-0.020938],[-0.124904,-0.039498,0.991382]] 2025-10-27T04:03:12.811Z,1761537792.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.500857 s, deltaX: -0.200001 m, approachRate: -0.399317 m/s, rangeRepo size: 4 2025-10-27T04:03:12.813Z,1761537792.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.273073 m, bearing: 272.858828 deg, lat: 36.779367 deg, lon: -121.859552 deg, deltaT: 0.500857 s, deltaX: -0.199137 m, approachRate: -0.397592 m/s, posRepo size: 4 2025-10-27T04:03:12.814Z,1761537792.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.27 m. 2025-10-27T04:03:12.907Z,1761537792.907 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.229059 2025-10-27T04:03:13.107Z,1761537793.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981563,-0.141062,-0.128982],[0.144954,-0.989210,-0.021248],[-0.124593,-0.039553,0.991419]] 2025-10-27T04:03:13.159Z,1761537793.159 [DAT](INFO): DAT read: Rx Time:04:03:11.9476 2025-10-27T04:03:13.161Z,1761537793.161 [DAT](INFO): Rx dataTimestamp_ set to:1761537793.159934 2025-10-27T04:03:13.165Z,1761537793.165 [DAT](INFO): DAT read: Bearing 72.9, 71.1 (Local) 2025-10-27T04:03:13.166Z,1761537793.166 [DAT](INFO): Local bearing/azimuth received: Bearing 72.9, 71.1 (Local) 2025-10-27T04:03:13.172Z,1761537793.172 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed -0.3 2025-10-27T04:03:13.180Z,1761537793.180 [DAT](INFO): DAT read: 04:03:11.9476 LVL= 14496, 15409, 27506, 26099, AGC= 52, IDX= 507, 0.16, 1.110, 0.431,-0.801, 0.681, PHS= 0.531,-0.205,-1.526, RAW= 50.7, 13.2, CAL= 47.2, 15.4, ROT= 102.8, -15.4 2025-10-27T04:03:13.181Z,1761537793.181 [DAT](INFO): got valid direction response: 04:03:11.9476 LVL= 14496, 15409, 27506, 26099, AGC= 52, IDX= 507, 0.16, 1.110, 0.431,-0.801, 0.681, PHS= 0.531,-0.205,-1.526, RAW= 50.7, 13.2, CAL= 47.2, 15.4, ROT= 102.8, -15.4 2025-10-27T04:03:13.181Z,1761537793.181 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T04:03:13.182Z,1761537793.182 [DAT](INFO): direction in FSK: [-0.213594,0.940137,0.265556] 2025-10-27T04:03:13.182Z,1761537793.182 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:13.186Z,1761537793.186 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.507618 2025-10-27T04:03:13.239Z,1761537793.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.507228 s, deltaX: 0.200001 m, approachRate: 0.394302 m/s, rangeRepo size: 4 2025-10-27T04:03:13.241Z,1761537793.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.471951 m, bearing: 272.534509 deg, lat: 36.779367 deg, lon: -121.859552 deg, deltaT: 0.507228 s, deltaX: 0.198877 m, approachRate: 0.392087 m/s, posRepo size: 4 2025-10-27T04:03:13.242Z,1761537793.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m. 2025-10-27T04:03:13.408Z,1761537793.408 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.729870 2025-10-27T04:03:13.478Z,1761537793.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981779,-0.139893,-0.128609],[0.143772,-0.989381,-0.021343],[-0.124258,-0.039444,0.991466]] 2025-10-27T04:03:13.560Z,1761537793.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m. 2025-10-27T04:03:13.661Z,1761537793.661 [DAT](INFO): DAT read: Rx Time:04:03:12.4476 2025-10-27T04:03:13.662Z,1761537793.662 [DAT](INFO): Rx dataTimestamp_ set to:1761537793.661601 2025-10-27T04:03:13.664Z,1761537793.664 [DAT](INFO): DAT read: Bearing 74.0, 71.6 (Local) 2025-10-27T04:03:13.664Z,1761537793.664 [DAT](INFO): Local bearing/azimuth received: Bearing 74.0, 71.6 (Local) 2025-10-27T04:03:13.697Z,1761537793.697 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed -0.3 2025-10-27T04:03:13.725Z,1761537793.725 [DAT](INFO): DAT read: 04:03:12.4476 LVL= 12816, 14705, 26850, 24563, AGC= 51, IDX= 507, 0.12, 0.216,-0.457,-1.697,-0.221, PHS= 0.539,-0.190,-1.519, RAW= 50.5, 12.9, CAL= 47.1, 14.9, ROT= 102.9, -14.9 2025-10-27T04:03:13.726Z,1761537793.726 [DAT](INFO): got valid direction response: 04:03:12.4476 LVL= 12816, 14705, 26850, 24563, AGC= 51, IDX= 507, 0.12, 0.216,-0.457,-1.697,-0.221, PHS= 0.539,-0.190,-1.519, RAW= 50.5, 12.9, CAL= 47.1, 14.9, ROT= 102.9, -14.9 2025-10-27T04:03:13.740Z,1761537793.740 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T04:03:13.741Z,1761537793.741 [DAT](INFO): direction in FSK: [-0.215744,0.941986,0.257133] 2025-10-27T04:03:13.741Z,1761537793.741 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:13.749Z,1761537793.749 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.071247 2025-10-27T04:03:13.889Z,1761537793.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982025,-0.138466,-0.128276],[0.142323,-0.989590,-0.021365],[-0.123982,-0.039238,0.991508]] 2025-10-27T04:03:13.912Z,1761537793.912 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.234158 2025-10-27T04:03:13.914Z,1761537793.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.501667 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:13.916Z,1761537793.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.471951 m, bearing: 272.864165 deg, lat: 36.779367 deg, lon: -121.859551 deg, deltaT: 0.501667 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:13.917Z,1761537793.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m. 2025-10-27T04:03:14.169Z,1761537794.169 [DAT](INFO): DAT read: Rx Time:04:03:12.9478 2025-10-27T04:03:14.170Z,1761537794.170 [DAT](INFO): Rx dataTimestamp_ set to:1761537794.169260 2025-10-27T04:03:14.175Z,1761537794.175 [DAT](INFO): DAT read: Bearing 72.5, 71.8 (Local) 2025-10-27T04:03:14.178Z,1761537794.178 [DAT](INFO): Local bearing/azimuth received: Bearing 72.5, 71.8 (Local) 2025-10-27T04:03:14.193Z,1761537794.193 [DAT](INFO): DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed -0.2 2025-10-27T04:03:14.233Z,1761537794.233 [DAT](INFO): DAT read: 04:03:12.9478 LVL= 14208, 14737, 25634, 23795, AGC= 51, IDX= 509, 0.10, 0.998, 0.307,-0.917, 0.553, PHS= 0.546,-0.202,-1.514, RAW= 51.0, 12.9, CAL= 47.6, 14.9, ROT= 102.4, -14.9 2025-10-27T04:03:14.234Z,1761537794.234 [DAT](INFO): got valid direction response: 04:03:12.9478 LVL= 14208, 14737, 25634, 23795, AGC= 51, IDX= 509, 0.10, 0.998, 0.307,-0.917, 0.553, PHS= 0.546,-0.202,-1.514, RAW= 51.0, 12.9, CAL= 47.6, 14.9, ROT= 102.4, -14.9 2025-10-27T04:03:14.234Z,1761537794.234 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T04:03:14.243Z,1761537794.243 [DAT](INFO): direction in FSK: [-0.207515,0.943833,0.257133] 2025-10-27T04:03:14.244Z,1761537794.244 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:14.248Z,1761537794.248 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.570103 2025-10-27T04:03:14.285Z,1761537794.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982291,-0.136929,-0.127889],[0.140770,-0.989810,-0.021455],[-0.123648,-0.039078,0.991556]] 2025-10-27T04:03:14.373Z,1761537794.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.507659 s, deltaX: 0.299999 m, approachRate: 0.590946 m/s, rangeRepo size: 4 2025-10-27T04:03:14.375Z,1761537794.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.770626 m, bearing: 272.465353 deg, lat: 36.779367 deg, lon: -121.859551 deg, deltaT: 0.507659 s, deltaX: 0.298676 m, approachRate: 0.588339 m/s, posRepo size: 4 2025-10-27T04:03:14.379Z,1761537794.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.77 m. 2025-10-27T04:03:14.416Z,1761537794.416 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.737865 2025-10-27T04:03:14.668Z,1761537794.668 [DAT](INFO): DAT read: Rx Time:04:03:13.4478 2025-10-27T04:03:14.669Z,1761537794.669 [DAT](INFO): Rx dataTimestamp_ set to:1761537794.668678 2025-10-27T04:03:14.670Z,1761537794.670 [DAT](INFO): DAT read: Bearing 72.4, 72.2 (Local) 2025-10-27T04:03:14.671Z,1761537794.671 [DAT](INFO): Local bearing/azimuth received: Bearing 72.4, 72.2 (Local) 2025-10-27T04:03:14.673Z,1761537794.673 [DAT](INFO): DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed -0.2 2025-10-27T04:03:14.682Z,1761537794.682 [DAT](INFO): DAT read: 04:03:13.4478 LVL= 12768, 14737, 25266, 24835, AGC= 51, IDX= 509, 0.05,-0.102,-0.798,-2.022,-0.557, PHS= 0.557,-0.195,-1.509, RAW= 51.1, 12.6, CAL= 47.7, 14.6, ROT= 102.3, -14.6 2025-10-27T04:03:14.683Z,1761537794.683 [DAT](INFO): got valid direction response: 04:03:13.4478 LVL= 12768, 14737, 25266, 24835, AGC= 51, IDX= 509, 0.05,-0.102,-0.798,-2.022,-0.557, PHS= 0.557,-0.195,-1.509, RAW= 51.1, 12.6, CAL= 47.7, 14.6, ROT= 102.3, -14.6 2025-10-27T04:03:14.684Z,1761537794.684 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T04:03:14.685Z,1761537794.685 [DAT](INFO): direction in FSK: [-0.206152,0.945496,0.252069] 2025-10-27T04:03:14.685Z,1761537794.685 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:14.689Z,1761537794.689 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.010813 2025-10-27T04:03:14.705Z,1761537794.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982578,-0.135101,-0.127622],[0.138979,-0.990052,-0.021948],[-0.123387,-0.039303,0.991580]] 2025-10-27T04:03:14.857Z,1761537794.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.499418 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:14.858Z,1761537794.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.770626 m, bearing: 272.517104 deg, lat: 36.779366 deg, lon: -121.859551 deg, deltaT: 0.499418 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:14.863Z,1761537794.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.77 m. 2025-10-27T04:03:14.921Z,1761537794.921 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.242756 2025-10-27T04:03:15.132Z,1761537795.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982907,-0.132967,-0.127330],[0.136937,-0.990315,-0.022905],[-0.123051,-0.039950,0.991596]] 2025-10-27T04:03:15.176Z,1761537795.176 [DAT](INFO): DAT read: Rx Time:04:03:13.9480 2025-10-27T04:03:15.178Z,1761537795.178 [DAT](INFO): Rx dataTimestamp_ set to:1761537795.176680 2025-10-27T04:03:15.182Z,1761537795.182 [DAT](INFO): DAT read: Bearing 71.9, 72.1 (Local) 2025-10-27T04:03:15.183Z,1761537795.183 [DAT](INFO): Local bearing/azimuth received: Bearing 71.9, 72.1 (Local) 2025-10-27T04:03:15.197Z,1761537795.197 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed -0.2 2025-10-27T04:03:15.219Z,1761537795.219 [DAT](INFO): DAT read: 04:03:13.9480 LVL= 14096, 15761, 26898, 27043, AGC= 52, IDX= 511,-0.04,-0.154,-0.847,-2.056,-0.604, PHS= 0.552,-0.198,-1.496, RAW= 51.2, 12.7, CAL= 47.8, 14.7, ROT= 102.2, -14.7 2025-10-27T04:03:15.220Z,1761537795.220 [DAT](INFO): got valid direction response: 04:03:13.9480 LVL= 14096, 15761, 26898, 27043, AGC= 52, IDX= 511,-0.04,-0.154,-0.847,-2.056,-0.604, PHS= 0.552,-0.198,-1.496, RAW= 51.2, 12.7, CAL= 47.8, 14.7, ROT= 102.2, -14.7 2025-10-27T04:03:15.221Z,1761537795.221 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T04:03:15.222Z,1761537795.222 [DAT](INFO): direction in FSK: [-0.204408,0.945423,0.253758] 2025-10-27T04:03:15.222Z,1761537795.222 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:15.234Z,1761537795.234 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.555557 2025-10-27T04:03:15.247Z,1761537795.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.508002 s, deltaX: 0.300001 m, approachRate: 0.590551 m/s, rangeRepo size: 4 2025-10-27T04:03:15.249Z,1761537795.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.069202 m, bearing: 272.531737 deg, lat: 36.779365 deg, lon: -121.859552 deg, deltaT: 0.508002 s, deltaX: 0.298576 m, approachRate: 0.587746 m/s, posRepo size: 4 2025-10-27T04:03:15.250Z,1761537795.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m. 2025-10-27T04:03:15.426Z,1761537795.426 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.747728 2025-10-27T04:03:15.638Z,1761537795.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983138,-0.131258,-0.127321],[0.135331,-0.990513,-0.023849],[-0.122983,-0.040677,0.991575]] 2025-10-27T04:03:15.677Z,1761537795.677 [DAT](INFO): DAT read: Rx Time:04:03:14.4480 2025-10-27T04:03:15.677Z,1761537795.677 [DAT](INFO): Rx dataTimestamp_ set to:1761537795.676803 2025-10-27T04:03:15.678Z,1761537795.678 [DAT](INFO): DAT read: Bearing 71.2, 72.7 (Local) 2025-10-27T04:03:15.679Z,1761537795.679 [DAT](INFO): Local bearing/azimuth received: Bearing 71.2, 72.7 (Local) 2025-10-27T04:03:15.681Z,1761537795.681 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed -0.2 2025-10-27T04:03:15.686Z,1761537795.686 [DAT](INFO): DAT read: 04:03:14.4480 LVL= 12592, 13505, 26034, 25171, AGC= 50, IDX= 511,-0.19,-1.211,-1.918,-3.131,-1.682, PHS= 0.573,-0.191,-1.493, RAW= 51.4, 12.2, CAL= 48.2, 14.1, ROT= 101.8, -14.1 2025-10-27T04:03:15.687Z,1761537795.687 [DAT](INFO): got valid direction response: 04:03:14.4480 LVL= 12592, 13505, 26034, 25171, AGC= 50, IDX= 511,-0.19,-1.211,-1.918,-3.131,-1.682, PHS= 0.573,-0.191,-1.493, RAW= 51.4, 12.2, CAL= 48.2, 14.1, ROT= 101.8, -14.1 2025-10-27T04:03:15.687Z,1761537795.687 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T04:03:15.689Z,1761537795.689 [DAT](INFO): direction in FSK: [-0.198335,0.949376,0.243615] 2025-10-27T04:03:15.689Z,1761537795.689 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:15.714Z,1761537795.714 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.036013 2025-10-27T04:03:15.735Z,1761537795.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.500123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:15.737Z,1761537795.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.069202 m, bearing: 272.316425 deg, lat: 36.779365 deg, lon: -121.859553 deg, deltaT: 0.500123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:15.738Z,1761537795.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m. 2025-10-27T04:03:15.928Z,1761537795.928 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.249762 2025-10-27T04:03:16.052Z,1761537796.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983291,-0.130194,-0.127232],[0.134326,-0.990636,-0.024418],[-0.122862,-0.041101,0.991572]] 2025-10-27T04:03:16.126Z,1761537796.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m. 2025-10-27T04:03:16.185Z,1761537796.185 [DAT](INFO): DAT read: Rx Time:04:03:14.9481 2025-10-27T04:03:16.187Z,1761537796.187 [DAT](INFO): Rx dataTimestamp_ set to:1761537796.185909 2025-10-27T04:03:16.192Z,1761537796.192 [DAT](INFO): DAT read: Bearing 70.9, 72.6 (Local) 2025-10-27T04:03:16.193Z,1761537796.193 [DAT](INFO): Local bearing/azimuth received: Bearing 70.9, 72.6 (Local) 2025-10-27T04:03:16.202Z,1761537796.202 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.1 2025-10-27T04:03:16.247Z,1761537796.247 [DAT](INFO): DAT read: 04:03:14.9481 LVL= 12832, 14017, 25922, 25203, AGC= 50, IDX= 511, 0.39, 0.585,-0.129,-1.346, 0.112, PHS= 0.575,-0.196,-1.502, RAW= 51.5, 12.3, CAL= 48.3, 14.2, ROT= 101.7, -14.2 2025-10-27T04:03:16.248Z,1761537796.248 [DAT](INFO): got valid direction response: 04:03:14.9481 LVL= 12832, 14017, 25922, 25203, AGC= 50, IDX= 511, 0.39, 0.585,-0.129,-1.346, 0.112, PHS= 0.575,-0.196,-1.502, RAW= 51.5, 12.3, CAL= 48.3, 14.2, ROT= 101.7, -14.2 2025-10-27T04:03:16.248Z,1761537796.248 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T04:03:16.249Z,1761537796.249 [DAT](INFO): direction in FSK: [-0.196591,0.949303,0.245307] 2025-10-27T04:03:16.250Z,1761537796.250 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:16.258Z,1761537796.258 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.579460 2025-10-27T04:03:16.432Z,1761537796.432 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.753738 2025-10-27T04:03:16.456Z,1761537796.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983320,-0.130039,-0.127167],[0.134147,-0.990664,-0.024260],[-0.122825,-0.040914,0.991585]] 2025-10-27T04:03:16.526Z,1761537796.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.509106 s, deltaX: 0.099998 m, approachRate: 0.196420 m/s, rangeRepo size: 4 2025-10-27T04:03:16.534Z,1761537796.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.168531 m, bearing: 272.276512 deg, lat: 36.779365 deg, lon: -121.859555 deg, deltaT: 0.509106 s, deltaX: 0.099329 m, approachRate: 0.195105 m/s, posRepo size: 4 2025-10-27T04:03:16.539Z,1761537796.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-10-27T04:03:16.686Z,1761537796.686 [DAT](INFO): DAT read: Rx Time:04:03:15.4480 2025-10-27T04:03:16.686Z,1761537796.686 [DAT](INFO): Rx dataTimestamp_ set to:1761537796.685846 2025-10-27T04:03:16.688Z,1761537796.688 [DAT](INFO): DAT read: Bearing 71.5, 72.5 (Local) 2025-10-27T04:03:16.689Z,1761537796.689 [DAT](INFO): Local bearing/azimuth received: Bearing 71.5, 72.5 (Local) 2025-10-27T04:03:16.692Z,1761537796.692 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed -0.1 2025-10-27T04:03:16.698Z,1761537796.698 [DAT](INFO): DAT read: 04:03:15.4480 LVL= 15600, 15505, 25730, 25907, AGC= 51, IDX= 511,-0.01,-0.904,-1.604,-2.817,-1.367, PHS= 0.565,-0.192,-1.494, RAW= 51.3, 12.4, CAL= 48.0, 14.3, ROT= 102.0, -14.3 2025-10-27T04:03:16.700Z,1761537796.700 [DAT](INFO): got valid direction response: 04:03:15.4480 LVL= 15600, 15505, 25730, 25907, AGC= 51, IDX= 511,-0.01,-0.904,-1.604,-2.817,-1.367, PHS= 0.565,-0.192,-1.494, RAW= 51.3, 12.4, CAL= 48.0, 14.3, ROT= 102.0, -14.3 2025-10-27T04:03:16.701Z,1761537796.701 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T04:03:16.702Z,1761537796.702 [DAT](INFO): direction in FSK: [-0.201470,0.947840,0.246999] 2025-10-27T04:03:16.703Z,1761537796.703 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:16.709Z,1761537796.709 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.030598 2025-10-27T04:03:16.851Z,1761537796.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983323,-0.130028,-0.127155],[0.134095,-0.990680,-0.023929],[-0.122858,-0.040581,0.991594]] 2025-10-27T04:03:16.921Z,1761537796.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.499937 s, deltaX: -0.099998 m, approachRate: -0.200022 m/s, rangeRepo size: 4 2025-10-27T04:03:16.923Z,1761537796.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.068968 m, bearing: 272.560095 deg, lat: 36.779364 deg, lon: -121.859555 deg, deltaT: 0.499937 s, deltaX: -0.099564 m, approachRate: -0.199152 m/s, posRepo size: 4 2025-10-27T04:03:16.931Z,1761537796.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m. 2025-10-27T04:03:16.936Z,1761537796.936 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.257889 2025-10-27T04:03:17.192Z,1761537797.192 [DAT](INFO): DAT read: Rx Time:04:03:15.9482 2025-10-27T04:03:17.193Z,1761537797.193 [DAT](INFO): Rx dataTimestamp_ set to:1761537797.192817 2025-10-27T04:03:17.198Z,1761537797.198 [DAT](INFO): DAT read: Bearing 65.1, 66.8 (Local) 2025-10-27T04:03:17.199Z,1761537797.199 [DAT](INFO): Local bearing/azimuth received: Bearing 65.1, 66.8 (Local) 2025-10-27T04:03:17.205Z,1761537797.205 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.0 2025-10-27T04:03:17.219Z,1761537797.219 [DAT](INFO): DAT read: 04:03:15.9482 LVL= 14112, 15809, 29378, 29395, AGC= 50, IDX= 512, 0.35, 0.307,-0.449,-1.561,-0.039, PHS= 0.447,-0.366,-1.566, RAW= 53.7, 16.7, CAL= 49.0, 20.4, ROT= 101.0, -20.4 2025-10-27T04:03:17.223Z,1761537797.223 [DAT](INFO): got valid direction response: 04:03:15.9482 LVL= 14112, 15809, 29378, 29395, AGC= 50, IDX= 512, 0.35, 0.307,-0.449,-1.561,-0.039, PHS= 0.447,-0.366,-1.566, RAW= 53.7, 16.7, CAL= 49.0, 20.4, ROT= 101.0, -20.4 2025-10-27T04:03:17.224Z,1761537797.224 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T04:03:17.228Z,1761537797.228 [DAT](INFO): direction in FSK: [-0.178842,0.920061,0.348572] 2025-10-27T04:03:17.228Z,1761537797.228 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:17.281Z,1761537797.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983228,-0.130570,-0.127338],[0.134573,-0.990629,-0.023323],[-0.123100,-0.040068,0.991585]] 2025-10-27T04:03:17.290Z,1761537797.290 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.611355 2025-10-27T04:03:17.426Z,1761537797.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.506971 s, deltaX: 0.299999 m, approachRate: 0.591748 m/s, rangeRepo size: 4 2025-10-27T04:03:17.436Z,1761537797.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.367548 m, bearing: 270.687492 deg, lat: 36.779364 deg, lon: -121.859555 deg, deltaT: 0.506971 s, deltaX: 0.298580 m, approachRate: 0.588949 m/s, posRepo size: 4 2025-10-27T04:03:17.437Z,1761537797.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.37 m. 2025-10-27T04:03:17.440Z,1761537797.440 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.761864 2025-10-27T04:03:17.680Z,1761537797.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983109,-0.131154,-0.127656],[0.135123,-0.990564,-0.022904],[-0.123447,-0.039766,0.991554]] 2025-10-27T04:03:17.694Z,1761537797.694 [DAT](INFO): DAT read: Rx Time:04:03:16.4481 2025-10-27T04:03:17.694Z,1761537797.694 [DAT](INFO): Rx dataTimestamp_ set to:1761537797.693934 2025-10-27T04:03:17.696Z,1761537797.696 [DAT](INFO): DAT read: Bearing 38.6, 72.6 (Local) 2025-10-27T04:03:17.697Z,1761537797.697 [DAT](INFO): Local bearing/azimuth received: Bearing 38.6, 72.6 (Local) 2025-10-27T04:03:17.713Z,1761537797.713 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 2025-10-27T04:03:17.731Z,1761537797.731 [DAT](INFO): DAT read: 04:03:16.4481 LVL= 14112, 16561, 26306, 26099, AGC= 51, IDX= 512,-0.25,-1.692,-2.795, 2.472,-2.372, PHS= 0.782,-0.378,-1.483, RAW= 60.8, 11.0, CAL= 58.0, 14.0, ROT= 92.0, -14.0 2025-10-27T04:03:17.732Z,1761537797.732 [DAT](INFO): got valid direction response: 04:03:16.4481 LVL= 14112, 16561, 26306, 26099, AGC= 51, IDX= 512,-0.25,-1.692,-2.795, 2.472,-2.372, PHS= 0.782,-0.378,-1.483, RAW= 60.8, 11.0, CAL= 58.0, 14.0, ROT= 92.0, -14.0 2025-10-27T04:03:17.732Z,1761537797.732 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T04:03:17.733Z,1761537797.733 [DAT](INFO): direction in FSK: [-0.033863,0.969705,0.241922] 2025-10-27T04:03:17.734Z,1761537797.734 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:17.745Z,1761537797.745 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.067211 2025-10-27T04:03:17.753Z,1761537797.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.501117 s, deltaX: -0.200001 m, approachRate: -0.399110 m/s, rangeRepo size: 4 2025-10-27T04:03:17.760Z,1761537797.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.168415 m, bearing: 262.675208 deg, lat: 36.779363 deg, lon: -121.859553 deg, deltaT: 0.501117 s, deltaX: -0.199133 m, approachRate: -0.397378 m/s, posRepo size: 4 2025-10-27T04:03:17.760Z,1761537797.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-10-27T04:03:17.944Z,1761537797.944 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.265865 2025-10-27T04:03:18.124Z,1761537798.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982589,-0.133585,-0.129131],[0.137822,-0.990156,-0.024414],[-0.124598,-0.041786,0.991327]] 2025-10-27T04:03:18.155Z,1761537798.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-10-27T04:03:18.197Z,1761537798.197 [DAT](INFO): DAT read: Rx Time:04:03:16.9482 2025-10-27T04:03:18.198Z,1761537798.198 [DAT](INFO): Rx dataTimestamp_ set to:1761537798.197646 2025-10-27T04:03:18.202Z,1761537798.202 [DAT](INFO): DAT read: Bearing 53.6, 77.4 (Local) 2025-10-27T04:03:18.203Z,1761537798.203 [DAT](INFO): Local bearing/azimuth received: Bearing 53.6, 77.4 (Local) 2025-10-27T04:03:18.210Z,1761537798.210 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.0 2025-10-27T04:03:18.254Z,1761537798.254 [DAT](INFO): DAT read: 04:03:16.9482 LVL= 13248, 14241, 27058, 23987, AGC= 50, IDX= 513,-0.12,-0.333,-1.282,-2.523,-1.045, PHS= 0.813,-0.192,-1.523, RAW= 55.4, 8.9, CAL= 53.3, 9.9, ROT= 96.7, -9.9 2025-10-27T04:03:18.268Z,1761537798.268 [DAT](INFO): got valid direction response: 04:03:16.9482 LVL= 13248, 14241, 27058, 23987, AGC= 50, IDX= 513,-0.12,-0.333,-1.282,-2.523,-1.045, PHS= 0.813,-0.192,-1.523, RAW= 55.4, 8.9, CAL= 53.3, 9.9, ROT= 96.7, -9.9 2025-10-27T04:03:18.268Z,1761537798.268 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T04:03:18.269Z,1761537798.269 [DAT](INFO): direction in FSK: [-0.114933,0.978382,0.171929] 2025-10-27T04:03:18.269Z,1761537798.269 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:18.278Z,1761537798.278 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.599377 2025-10-27T04:03:18.448Z,1761537798.448 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.769699 2025-10-27T04:03:18.574Z,1761537798.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.503712 s, deltaX: 0.200001 m, approachRate: 0.397054 m/s, rangeRepo size: 4 2025-10-27T04:03:18.582Z,1761537798.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.367540 m, bearing: 267.685396 deg, lat: 36.779356 deg, lon: -121.859553 deg, deltaT: 0.503712 s, deltaX: 0.199125 m, approachRate: 0.395316 m/s, posRepo size: 4 2025-10-27T04:03:18.584Z,1761537798.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.37 m. 2025-10-27T04:03:18.701Z,1761537798.701 [DAT](INFO): DAT read: Rx Time:04:03:17.4481 2025-10-27T04:03:18.702Z,1761537798.702 [DAT](INFO): Rx dataTimestamp_ set to:1761537798.701936 2025-10-27T04:03:18.704Z,1761537798.704 [DAT](INFO): DAT read: Bearing 49.7, 76.0 (Local) 2025-10-27T04:03:18.705Z,1761537798.705 [DAT](INFO): Local bearing/azimuth received: Bearing 49.7, 76.0 (Local) 2025-10-27T04:03:18.708Z,1761537798.708 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 2025-10-27T04:03:18.714Z,1761537798.714 [DAT](INFO): DAT read: 04:03:17.4481 LVL= 13520, 16017, 23666, 23923, AGC= 51, IDX= 512,-0.09,-0.336,-1.253,-2.360,-0.981, PHS= 0.747,-0.226,-1.423, RAW= 56.6, 9.6, CAL= 54.2, 11.1, ROT= 95.8, -11.1 2025-10-27T04:03:18.716Z,1761537798.716 [DAT](INFO): got valid direction response: 04:03:17.4481 LVL= 13520, 16017, 23666, 23923, AGC= 51, IDX= 512,-0.09,-0.336,-1.253,-2.360,-0.981, PHS= 0.747,-0.226,-1.423, RAW= 56.6, 9.6, CAL= 54.2, 11.1, ROT= 95.8, -11.1 2025-10-27T04:03:18.717Z,1761537798.717 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T04:03:18.718Z,1761537798.718 [DAT](INFO): direction in FSK: [-0.099166,0.976269,0.192522] 2025-10-27T04:03:18.718Z,1761537798.718 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:18.727Z,1761537798.727 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.049114 2025-10-27T04:03:18.890Z,1761537798.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982322,-0.135001,-0.129689],[0.139255,-0.989959,-0.024275],[-0.125109,-0.041906,0.991258]] 2025-10-27T04:03:18.934Z,1761537798.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504290 s, deltaX: -0.200001 m, approachRate: -0.396599 m/s, rangeRepo size: 4 2025-10-27T04:03:18.936Z,1761537798.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.168407 m, bearing: 266.551583 deg, lat: 36.779341 deg, lon: -121.859553 deg, deltaT: 0.504290 s, deltaX: -0.199133 m, approachRate: -0.394878 m/s, posRepo size: 4 2025-10-27T04:03:18.937Z,1761537798.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-10-27T04:03:18.952Z,1761537798.952 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.273830 2025-10-27T04:03:19.209Z,1761537799.209 [DAT](INFO): DAT read: Rx Time:04:03:17.9482 2025-10-27T04:03:19.211Z,1761537799.211 [DAT](INFO): Rx dataTimestamp_ set to:1761537799.209807 2025-10-27T04:03:19.215Z,1761537799.215 [DAT](INFO): DAT read: Bearing 55.6, 73.9 (Local) 2025-10-27T04:03:19.216Z,1761537799.216 [DAT](INFO): Local bearing/azimuth received: Bearing 55.6, 73.9 (Local) 2025-10-27T04:03:19.250Z,1761537799.250 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.0 2025-10-27T04:03:19.278Z,1761537799.278 [DAT](INFO): DAT read: 04:03:17.9482 LVL= 15312, 17073, 26338, 29731, AGC= 53, IDX= 513,-0.10, 1.098, 0.219,-0.911, 0.518, PHS= 0.681,-0.254,-1.473, RAW= 55.7, 11.2, CAL= 52.7, 13.2, ROT= 97.3, -13.2 2025-10-27T04:03:19.307Z,1761537799.307 [DAT](INFO): got valid direction response: 04:03:17.9482 LVL= 15312, 17073, 26338, 29731, AGC= 53, IDX= 513,-0.10, 1.098, 0.219,-0.911, 0.518, PHS= 0.681,-0.254,-1.473, RAW= 55.7, 11.2, CAL= 52.7, 13.2, ROT= 97.3, -13.2 2025-10-27T04:03:19.309Z,1761537799.309 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T04:03:19.323Z,1761537799.323 [DAT](INFO): direction in FSK: [-0.123708,0.965687,0.228351] 2025-10-27T04:03:19.324Z,1761537799.324 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:19.340Z,1761537799.340 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.661469 2025-10-27T04:03:19.429Z,1761537799.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.507871 s, deltaX: 0.200001 m, approachRate: 0.393802 m/s, rangeRepo size: 4 2025-10-27T04:03:19.436Z,1761537799.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.368591 m, bearing: 267.749610 deg, lat: 36.779341 deg, lon: -121.859557 deg, deltaT: 0.507871 s, deltaX: 0.200184 m, approachRate: 0.394163 m/s, posRepo size: 4 2025-10-27T04:03:19.436Z,1761537799.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.37 m. 2025-10-27T04:03:19.456Z,1761537799.456 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.777889 2025-10-27T04:03:19.702Z,1761537799.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981846,-0.137366,-0.130802],[0.141583,-0.989648,-0.023461],[-0.126225,-0.041555,0.991131]] 2025-10-27T04:03:19.714Z,1761537799.714 [DAT](INFO): DAT read: Rx Time:04:03:18.4481 2025-10-27T04:03:19.714Z,1761537799.714 [DAT](INFO): Rx dataTimestamp_ set to:1761537799.714028 2025-10-27T04:03:19.716Z,1761537799.716 [DAT](INFO): DAT read: Bearing 54.9, 69.7 (Local) 2025-10-27T04:03:19.717Z,1761537799.717 [DAT](INFO): Local bearing/azimuth received: Bearing 54.9, 69.7 (Local) 2025-10-27T04:03:19.720Z,1761537799.720 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 2025-10-27T04:03:19.726Z,1761537799.726 [DAT](INFO): DAT read: 04:03:18.4481 LVL= 15904, 16737, 24562, 26227, AGC= 52, IDX= 512,-0.15,-0.081,-0.944,-1.974,-0.552, PHS= 0.573,-0.347,-1.466, RAW= 56.8, 13.9, CAL= 52.9, 17.4, ROT= 97.1, -17.4 2025-10-27T04:03:19.727Z,1761537799.727 [DAT](INFO): got valid direction response: 04:03:18.4481 LVL= 15904, 16737, 24562, 26227, AGC= 52, IDX= 512,-0.15,-0.081,-0.944,-1.974,-0.552, PHS= 0.573,-0.347,-1.466, RAW= 56.8, 13.9, CAL= 52.9, 17.4, ROT= 97.1, -17.4 2025-10-27T04:03:19.728Z,1761537799.728 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T04:03:19.729Z,1761537799.729 [DAT](INFO): direction in FSK: [-0.117945,0.946923,0.299041] 2025-10-27T04:03:19.729Z,1761537799.729 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:19.733Z,1761537799.733 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.054478 2025-10-27T04:03:19.824Z,1761537799.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504221 s, deltaX: -0.200001 m, approachRate: -0.396653 m/s, rangeRepo size: 4 2025-10-27T04:03:19.826Z,1761537799.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.169451 m, bearing: 266.819799 deg, lat: 36.779338 deg, lon: -121.859557 deg, deltaT: 0.504221 s, deltaX: -0.199141 m, approachRate: -0.394947 m/s, posRepo size: 4 2025-10-27T04:03:19.826Z,1761537799.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-10-27T04:03:19.960Z,1761537799.960 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.281845 2025-10-27T04:03:20.204Z,1761537800.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981196,-0.140597,-0.132236],[0.144752,-0.989217,-0.022304],[-0.127674,-0.041026,0.990967]] 2025-10-27T04:03:20.213Z,1761537800.213 [DAT](INFO): DAT read: Rx Time:04:03:18.9481 2025-10-27T04:03:20.214Z,1761537800.214 [DAT](INFO): Rx dataTimestamp_ set to:1761537800.213315 2025-10-27T04:03:20.218Z,1761537800.218 [DAT](INFO): DAT read: Bearing 35.6, 72.9 (Local) 2025-10-27T04:03:20.219Z,1761537800.219 [DAT](INFO): Local bearing/azimuth received: Bearing 35.6, 72.9 (Local) 2025-10-27T04:03:20.221Z,1761537800.221 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 2025-10-27T04:03:20.226Z,1761537800.226 [DAT](INFO): DAT read: 04:03:18.9481 LVL= 12784, 13841, 26610, 24483, AGC= 51, IDX= 512,-0.18,-0.801,-1.855,-2.808,-1.465, PHS= 0.766,-0.345,-1.387, RAW= 61.1, 10.4, CAL= 58.5, 13.1, ROT= 91.5, -13.1 2025-10-27T04:03:20.227Z,1761537800.227 [DAT](INFO): got valid direction response: 04:03:18.9481 LVL= 12784, 13841, 26610, 24483, AGC= 51, IDX= 512,-0.18,-0.801,-1.855,-2.808,-1.465, PHS= 0.766,-0.345,-1.387, RAW= 61.1, 10.4, CAL= 58.5, 13.1, ROT= 91.5, -13.1 2025-10-27T04:03:20.232Z,1761537800.232 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T04:03:20.240Z,1761537800.240 [DAT](INFO): direction in FSK: [-0.025496,0.973642,0.226651] 2025-10-27T04:03:20.241Z,1761537800.241 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:20.297Z,1761537800.297 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.618374 2025-10-27T04:03:20.320Z,1761537800.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.499287 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:20.322Z,1761537800.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.169079 m, bearing: 261.696377 deg, lat: 36.779338 deg, lon: -121.859557 deg, deltaT: 0.499287 s, deltaX: -0.000372 m, approachRate: -0.000745 m/s, posRepo size: 4 2025-10-27T04:03:20.322Z,1761537800.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-10-27T04:03:20.464Z,1761537800.464 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.785824 2025-10-27T04:03:20.630Z,1761537800.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980836,-0.142408,-0.132966],[0.146531,-0.988968,-0.021710],[-0.128407,-0.040778,0.990883]] 2025-10-27T04:03:20.667Z,1761537800.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-10-27T04:03:20.717Z,1761537800.717 [DAT](INFO): DAT read: Rx Time:04:03:19.4480 2025-10-27T04:03:20.718Z,1761537800.718 [DAT](INFO): Rx dataTimestamp_ set to:1761537800.717719 2025-10-27T04:03:20.721Z,1761537800.721 [DAT](INFO): DAT read: Bearing 69.9, 71.8 (Local) 2025-10-27T04:03:20.722Z,1761537800.722 [DAT](INFO): Local bearing/azimuth received: Bearing 69.9, 71.8 (Local) 2025-10-27T04:03:20.724Z,1761537800.724 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.0 2025-10-27T04:03:20.736Z,1761537800.736 [DAT](INFO): DAT read: 04:03:19.4480 LVL= 14240, 14401, 26178, 24211, AGC= 51, IDX= 511,-0.18,-1.213,-1.905,-3.107,-1.663, PHS= 0.552,-0.197,-1.488, RAW= 51.3, 12.6, CAL= 47.9, 14.6, ROT= 102.1, -14.6 2025-10-27T04:03:20.737Z,1761537800.737 [DAT](INFO): got valid direction response: 04:03:19.4480 LVL= 14240, 14401, 26178, 24211, AGC= 51, IDX= 511,-0.18,-1.213,-1.905,-3.107,-1.663, PHS= 0.552,-0.197,-1.488, RAW= 51.3, 12.6, CAL= 47.9, 14.6, ROT= 102.1, -14.6 2025-10-27T04:03:20.738Z,1761537800.738 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T04:03:20.741Z,1761537800.741 [DAT](INFO): direction in FSK: [-0.202850,0.946210,0.252069] 2025-10-27T04:03:20.741Z,1761537800.741 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:20.761Z,1761537800.761 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.082924 2025-10-27T04:03:20.968Z,1761537800.968 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.289795 2025-10-27T04:03:21.005Z,1761537801.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980568,-0.143507,-0.133762],[0.147681,-0.988795,-0.021772],[-0.129139,-0.041103,0.990774]] 2025-10-27T04:03:21.086Z,1761537801.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504404 s, deltaX: -0.099998 m, approachRate: -0.198251 m/s, rangeRepo size: 4 2025-10-27T04:03:21.107Z,1761537801.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.068752 m, bearing: 271.734373 deg, lat: 36.779338 deg, lon: -121.859552 deg, deltaT: 0.504404 s, deltaX: -0.100327 m, approachRate: -0.198901 m/s, posRepo size: 4 2025-10-27T04:03:21.116Z,1761537801.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m. 2025-10-27T04:03:21.221Z,1761537801.221 [DAT](INFO): DAT read: Rx Time:04:03:19.9481 2025-10-27T04:03:21.221Z,1761537801.221 [DAT](INFO): Rx dataTimestamp_ set to:1761537801.221196 2025-10-27T04:03:21.223Z,1761537801.223 [DAT](INFO): DAT read: Bearing 43.3, 79.9 (Local) 2025-10-27T04:03:21.223Z,1761537801.223 [DAT](INFO): Local bearing/azimuth received: Bearing 43.3, 79.9 (Local) 2025-10-27T04:03:21.225Z,1761537801.225 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.0 2025-10-27T04:03:21.235Z,1761537801.235 [DAT](INFO): DAT read: 04:03:19.9481 LVL= 13600, 13489, 23202, 22899, AGC= 50, IDX= 512,-0.13,-0.884,-1.875,-3.119,-1.691, PHS= 0.910,-0.138,-1.472, RAW= 56.0, 6.8, CAL= 54.6, 6.8, ROT= 95.4, -6.8 2025-10-27T04:03:21.238Z,1761537801.238 [DAT](INFO): got valid direction response: 04:03:19.9481 LVL= 13600, 13489, 23202, 22899, AGC= 50, IDX= 512,-0.13,-0.884,-1.875,-3.119,-1.691, PHS= 0.910,-0.138,-1.472, RAW= 56.0, 6.8, CAL= 54.6, 6.8, ROT= 95.4, -6.8 2025-10-27T04:03:21.248Z,1761537801.248 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T04:03:21.251Z,1761537801.251 [DAT](INFO): direction in FSK: [-0.093446,0.988559,0.118404] 2025-10-27T04:03:21.256Z,1761537801.256 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:21.300Z,1761537801.300 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.621414 2025-10-27T04:03:21.472Z,1761537801.472 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.794086 2025-10-27T04:03:21.491Z,1761537801.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503477 s, deltaX: 0.099998 m, approachRate: 0.198616 m/s, rangeRepo size: 4 2025-10-27T04:03:21.493Z,1761537801.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.168318 m, bearing: 266.196558 deg, lat: 36.779338 deg, lon: -121.859552 deg, deltaT: 0.503477 s, deltaX: 0.099566 m, approachRate: 0.197756 m/s, posRepo size: 4 2025-10-27T04:03:21.494Z,1761537801.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-10-27T04:03:21.725Z,1761537801.725 [DAT](INFO): DAT read: Rx Time:04:03:20.4480 2025-10-27T04:03:21.726Z,1761537801.726 [DAT](INFO): Rx dataTimestamp_ set to:1761537801.725328 2025-10-27T04:03:21.727Z,1761537801.727 [DAT](INFO): DAT read: Bearing 71.0, 72.1 (Local) 2025-10-27T04:03:21.727Z,1761537801.727 [DAT](INFO): Local bearing/azimuth received: Bearing 71.0, 72.1 (Local) 2025-10-27T04:03:21.729Z,1761537801.729 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.0 2025-10-27T04:03:21.734Z,1761537801.734 [DAT](INFO): DAT read: 04:03:20.4480 LVL= 12432, 13393, 23714, 22723, AGC= 50, IDX= 511,-0.04,-1.118,-1.794,-3.013,-1.571, PHS= 0.555,-0.177,-1.486, RAW= 50.7, 12.3, CAL= 47.5, 14.2, ROT= 102.5, -14.2 2025-10-27T04:03:21.740Z,1761537801.740 [DAT](INFO): got valid direction response: 04:03:20.4480 LVL= 12432, 13393, 23714, 22723, AGC= 50, IDX= 511,-0.04,-1.118,-1.794,-3.013,-1.571, PHS= 0.555,-0.177,-1.486, RAW= 50.7, 12.3, CAL= 47.5, 14.2, ROT= 102.5, -14.2 2025-10-27T04:03:21.741Z,1761537801.741 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T04:03:21.742Z,1761537801.742 [DAT](INFO): direction in FSK: [-0.209826,0.946466,0.245307] 2025-10-27T04:03:21.742Z,1761537801.742 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:21.761Z,1761537801.761 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.083153 2025-10-27T04:03:21.814Z,1761537801.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979955,-0.146269,-0.135253],[0.150534,-0.988364,-0.021808],[-0.130489,-0.041731,0.990571]] 2025-10-27T04:03:21.858Z,1761537801.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504132 s, deltaX: -0.099998 m, approachRate: -0.198358 m/s, rangeRepo size: 4 2025-10-27T04:03:21.860Z,1761537801.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.068752 m, bearing: 272.002734 deg, lat: 36.779338 deg, lon: -121.859550 deg, deltaT: 0.504132 s, deltaX: -0.099566 m, approachRate: -0.197499 m/s, posRepo size: 4 2025-10-27T04:03:21.861Z,1761537801.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m. 2025-10-27T04:03:21.976Z,1761537801.976 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.298222 2025-10-27T04:03:22.217Z,1761537802.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979667,-0.147578,-0.135916],[0.151892,-0.988155,-0.021878],[-0.131077,-0.042078,0.990479]] 2025-10-27T04:03:22.229Z,1761537802.229 [DAT](INFO): DAT read: Rx Time:04:03:20.9481 2025-10-27T04:03:22.229Z,1761537802.229 [DAT](INFO): Rx dataTimestamp_ set to:1761537802.228787 2025-10-27T04:03:22.230Z,1761537802.230 [DAT](INFO): DAT read: Bearing 75.4, 65.6 (Local) 2025-10-27T04:03:22.231Z,1761537802.231 [DAT](INFO): Local bearing/azimuth received: Bearing 75.4, 65.6 (Local) 2025-10-27T04:03:22.233Z,1761537802.233 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.1 2025-10-27T04:03:22.270Z,1761537802.270 [DAT](INFO): DAT read: 04:03:20.9481 LVL= 14240, 14129, 24898, 24819, AGC= 51, IDX= 512, 0.18,-0.615,-1.079,-2.100,-0.822, PHS= 0.309,-0.212,-1.322, RAW= 48.2, 16.7, CAL= 43.7, 19.7, ROT= 106.3, -19.7 2025-10-27T04:03:22.286Z,1761537802.286 [DAT](INFO): got valid direction response: 04:03:20.9481 LVL= 14240, 14129, 24898, 24819, AGC= 51, IDX= 512, 0.18,-0.615,-1.079,-2.100,-0.822, PHS= 0.309,-0.212,-1.322, RAW= 48.2, 16.7, CAL= 43.7, 19.7, ROT= 106.3, -19.7 2025-10-27T04:03:22.296Z,1761537802.296 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T04:03:22.331Z,1761537802.331 [DAT](INFO): direction in FSK: [-0.264239,0.903628,0.337095] 2025-10-27T04:03:22.331Z,1761537802.331 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:22.340Z,1761537802.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503459 s, deltaX: 0.099998 m, approachRate: 0.198623 m/s, rangeRepo size: 4 2025-10-27T04:03:22.341Z,1761537802.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m. 2025-10-27T04:03:22.343Z,1761537802.343 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.656551 2025-10-27T04:03:22.480Z,1761537802.480 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.802059 2025-10-27T04:03:22.636Z,1761537802.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979235,-0.149838,-0.136558],[0.154102,-0.987828,-0.021154],[-0.131726,-0.041759,0.990406]] 2025-10-27T04:03:22.664Z,1761537802.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m. 2025-10-27T04:03:22.733Z,1761537802.733 [DAT](INFO): DAT read: Rx Time:04:03:21.4481 2025-10-27T04:03:22.734Z,1761537802.734 [DAT](INFO): Rx dataTimestamp_ set to:1761537802.733524 2025-10-27T04:03:22.736Z,1761537802.736 [DAT](INFO): DAT read: Bearing 75.4, 75.3 (Local) 2025-10-27T04:03:22.736Z,1761537802.736 [DAT](INFO): Local bearing/azimuth received: Bearing 75.4, 75.3 (Local) 2025-10-27T04:03:22.739Z,1761537802.739 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.1 2025-10-27T04:03:22.746Z,1761537802.746 [DAT](INFO): DAT read: 04:03:21.4481 LVL= 14272, 14657, 23538, 25059, AGC= 51, IDX= 512,-0.29, 2.035, 1.277,-0.210, 1.413, PHS= 0.724,-0.090,-1.667, RAW= 49.6, 9.8, CAL= 47.2, 10.7, ROT= 102.8, -10.7 2025-10-27T04:03:22.748Z,1761537802.748 [DAT](INFO): got valid direction response: 04:03:21.4481 LVL= 14272, 14657, 23538, 25059, AGC= 51, IDX= 512,-0.29, 2.035, 1.277,-0.210, 1.413, PHS= 0.724,-0.090,-1.667, RAW= 49.6, 9.8, CAL= 47.2, 10.7, ROT= 102.8, -10.7 2025-10-27T04:03:22.748Z,1761537802.748 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T04:03:22.749Z,1761537802.749 [DAT](INFO): direction in FSK: [-0.217696,0.958194,0.185667] 2025-10-27T04:03:22.749Z,1761537802.749 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:22.753Z,1761537802.753 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.074970 2025-10-27T04:03:22.984Z,1761537802.984 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.305710 2025-10-27T04:03:23.036Z,1761537803.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978808,-0.152117,-0.137096],[0.156283,-0.987508,-0.020092],[-0.132327,-0.041092,0.990354]] 2025-10-27T04:03:23.097Z,1761537803.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504737 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:23.149Z,1761537803.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.168188 m, bearing: 272.436627 deg, lat: 36.779361 deg, lon: -121.859550 deg, deltaT: 1.008196 s, deltaX: 0.099436 m, approachRate: 0.098627 m/s, posRepo size: 4 2025-10-27T04:03:23.149Z,1761537803.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m. 2025-10-27T04:03:23.237Z,1761537803.237 [DAT](INFO): DAT read: Rx Time:04:03:21.9482 2025-10-27T04:03:23.237Z,1761537803.237 [DAT](INFO): Rx dataTimestamp_ set to:1761537803.236902 2025-10-27T04:03:23.238Z,1761537803.238 [DAT](INFO): DAT read: Bearing 64.4, 69.5 (Local) 2025-10-27T04:03:23.240Z,1761537803.240 [DAT](INFO): Local bearing/azimuth received: Bearing 64.4, 69.5 (Local) 2025-10-27T04:03:23.242Z,1761537803.242 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed -0.1 2025-10-27T04:03:23.252Z,1761537803.252 [DAT](INFO): DAT read: 04:03:21.9482 LVL= 14800, 14929, 23058, 26019, AGC= 51, IDX= 513, 0.17,-2.116,-2.823, 2.356,-2.509, PHS= 0.494,-0.270,-1.462, RAW= 52.8, 14.4, CAL= 48.8, 17.2, ROT= 101.2, -17.2 2025-10-27T04:03:23.253Z,1761537803.253 [DAT](INFO): got valid direction response: 04:03:21.9482 LVL= 14800, 14929, 23058, 26019, AGC= 51, IDX= 513, 0.17,-2.116,-2.823, 2.356,-2.509, PHS= 0.494,-0.270,-1.462, RAW= 52.8, 14.4, CAL= 48.8, 17.2, ROT= 101.2, -17.2 2025-10-27T04:03:23.253Z,1761537803.253 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T04:03:23.254Z,1761537803.254 [DAT](INFO): direction in FSK: [-0.185548,0.937085,0.295708] 2025-10-27T04:03:23.256Z,1761537803.256 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:23.262Z,1761537803.262 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.583748 2025-10-27T04:03:23.430Z,1761537803.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978461,-0.153946,-0.137528],[0.158035,-0.987246,-0.019260],[-0.132809,-0.040580,0.990311]] 2025-10-27T04:03:23.488Z,1761537803.488 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.809875 2025-10-27T04:03:23.488Z,1761537803.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.503378 s, deltaX: 0.200001 m, approachRate: 0.397317 m/s, rangeRepo size: 4 2025-10-27T04:03:23.490Z,1761537803.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.367319 m, bearing: 269.798486 deg, lat: 36.779361 deg, lon: -121.859550 deg, deltaT: 0.503378 s, deltaX: 0.199131 m, approachRate: 0.395589 m/s, posRepo size: 4 2025-10-27T04:03:23.491Z,1761537803.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.37 m. 2025-10-27T04:03:23.742Z,1761537803.742 [DAT](INFO): DAT read: Rx Time:04:03:22.4482 2025-10-27T04:03:23.742Z,1761537803.742 [DAT](INFO): Rx dataTimestamp_ set to:1761537803.741949 2025-10-27T04:03:23.744Z,1761537803.744 [DAT](INFO): DAT read: Bearing 58.8, 62.9 (Local) 2025-10-27T04:03:23.744Z,1761537803.744 [DAT](INFO): Local bearing/azimuth received: Bearing 58.8, 62.9 (Local) 2025-10-27T04:03:23.747Z,1761537803.747 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed -0.1 2025-10-27T04:03:23.758Z,1761537803.758 [DAT](INFO): DAT read: 04:03:22.4482 LVL= 13040, 12833, 23634, 23459, AGC= 50, IDX= 513,-0.09, 0.273,-0.458,-1.455, 0.038, PHS= 0.337,-0.450,-1.537, RAW= 54.7, 19.7, CAL= 50.2, 24.1, ROT= 99.8, -24.1 2025-10-27T04:03:23.759Z,1761537803.759 [DAT](INFO): got valid direction response: 04:03:22.4482 LVL= 13040, 12833, 23634, 23459, AGC= 50, IDX= 513,-0.09, 0.273,-0.458,-1.455, 0.038, PHS= 0.337,-0.450,-1.537, RAW= 54.7, 19.7, CAL= 50.2, 24.1, ROT= 99.8, -24.1 2025-10-27T04:03:23.759Z,1761537803.759 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T04:03:23.760Z,1761537803.760 [DAT](INFO): direction in FSK: [-0.155373,0.899514,0.408330] 2025-10-27T04:03:23.761Z,1761537803.761 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:23.765Z,1761537803.765 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.086826 2025-10-27T04:03:23.834Z,1761537803.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978129,-0.155756,-0.137855],[0.159814,-0.986968,-0.018806],[-0.133129,-0.040426,0.990274]] 2025-10-27T04:03:23.892Z,1761537803.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.505047 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:23.894Z,1761537803.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.367319 m, bearing: 267.236679 deg, lat: 36.779361 deg, lon: -121.859547 deg, deltaT: 0.505047 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:23.894Z,1761537803.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.37 m. 2025-10-27T04:03:23.923Z,1761537803.923 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:03:23.992Z,1761537803.992 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.313866 2025-10-27T04:03:24.245Z,1761537804.245 [DAT](INFO): DAT read: Rx Time:04:03:22.9483 2025-10-27T04:03:24.246Z,1761537804.246 [DAT](INFO): Rx dataTimestamp_ set to:1761537804.245509 2025-10-27T04:03:24.248Z,1761537804.248 [DAT](INFO): DAT read: Bearing 66.4, 70.6 (Local) 2025-10-27T04:03:24.248Z,1761537804.248 [DAT](INFO): Local bearing/azimuth received: Bearing 66.4, 70.6 (Local) 2025-10-27T04:03:24.251Z,1761537804.251 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed -0.2 2025-10-27T04:03:24.266Z,1761537804.266 [DAT](INFO): DAT read: 04:03:22.9483 LVL= 13904, 16673, 23074, 24483, AGC= 55, IDX= 2,-0.33, 2.252, 1.557, 0.392, 1.837, PHS= 0.517,-0.236,-1.489, RAW= 51.8, 13.7, CAL= 48.1, 16.1, ROT= 101.9, -16.1 2025-10-27T04:03:24.294Z,1761537804.294 [DAT](INFO): got valid direction response: 04:03:22.9483 LVL= 13904, 16673, 23074, 24483, AGC= 55, IDX= 2,-0.33, 2.252, 1.557, 0.392, 1.837, PHS= 0.517,-0.236,-1.489, RAW= 51.8, 13.7, CAL= 48.1, 16.1, ROT= 101.9, -16.1 2025-10-27T04:03:24.299Z,1761537804.299 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T04:03:24.311Z,1761537804.311 [DAT](INFO): direction in FSK: [-0.198117,0.940131,0.277315] 2025-10-27T04:03:24.312Z,1761537804.312 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:24.358Z,1761537804.358 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.680122 2025-10-27T04:03:24.371Z,1761537804.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977773,-0.157672,-0.138202],[0.161727,-0.986661,-0.018546],[-0.133435,-0.040485,0.990230]] 2025-10-27T04:03:24.486Z,1761537804.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.503560 s, deltaX: 0.100000 m, approachRate: 0.198587 m/s, rangeRepo size: 4 2025-10-27T04:03:24.493Z,1761537804.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.466850 m, bearing: 270.424896 deg, lat: 36.779352 deg, lon: -121.859547 deg, deltaT: 0.503560 s, deltaX: 0.099531 m, approachRate: 0.197655 m/s, posRepo size: 4 2025-10-27T04:03:24.493Z,1761537804.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.47 m. 2025-10-27T04:03:24.496Z,1761537804.496 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.818150 2025-10-27T04:03:24.749Z,1761537804.749 [DAT](INFO): DAT read: Rx Time:04:03:23.4483 2025-10-27T04:03:24.749Z,1761537804.749 [DAT](INFO): Rx dataTimestamp_ set to:1761537804.748774 2025-10-27T04:03:24.750Z,1761537804.750 [DAT](INFO): DAT read: Bearing 67.8, 70.0 (Local) 2025-10-27T04:03:24.751Z,1761537804.751 [DAT](INFO): Local bearing/azimuth received: Bearing 67.8, 70.0 (Local) 2025-10-27T04:03:24.753Z,1761537804.753 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed -0.2 2025-10-27T04:03:24.759Z,1761537804.759 [DAT](INFO): DAT read: 04:03:23.4483 LVL= 16704, 19665, 24178, 25939, AGC= 53, IDX= 497, 0.46, 2.094, 1.421, 0.241, 1.701, PHS= 0.495,-0.235,-1.504, RAW= 51.2, 14.1, CAL= 47.3, 16.6, ROT= 102.7, -16.6 2025-10-27T04:03:24.761Z,1761537804.761 [DAT](INFO): got valid direction response: 04:03:23.4483 LVL= 16704, 19665, 24178, 25939, AGC= 53, IDX= 497, 0.46, 2.094, 1.421, 0.241, 1.701, PHS= 0.495,-0.235,-1.504, RAW= 51.2, 14.1, CAL= 47.3, 16.6, ROT= 102.7, -16.6 2025-10-27T04:03:24.761Z,1761537804.761 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T04:03:24.762Z,1761537804.762 [DAT](INFO): direction in FSK: [-0.210683,0.934877,0.285688] 2025-10-27T04:03:24.762Z,1761537804.762 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:24.790Z,1761537804.790 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.112080 2025-10-27T04:03:24.809Z,1761537804.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977449,-0.159512,-0.138382],[0.163595,-0.986353,-0.018571],[-0.133531,-0.040791,0.990205]] 2025-10-27T04:03:24.880Z,1761537804.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.503265 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:24.882Z,1761537804.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.466850 m, bearing: 271.028820 deg, lat: 36.779352 deg, lon: -121.859547 deg, deltaT: 0.503265 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:24.882Z,1761537804.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.47 m. 2025-10-27T04:03:24.927Z,1761537804.927 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:03:25.002Z,1761537805.002 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.323921 2025-10-27T04:03:25.190Z,1761537805.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977100,-0.161572,-0.138456],[0.165672,-0.986006,-0.018544],[-0.133522,-0.041058,0.990195]] 2025-10-27T04:03:25.208Z,1761537805.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.47 m. 2025-10-27T04:03:25.254Z,1761537805.254 [DAT](INFO): DAT read: Rx Time:04:03:23.9485 2025-10-27T04:03:25.254Z,1761537805.254 [DAT](INFO): Rx dataTimestamp_ set to:1761537805.253700 2025-10-27T04:03:25.256Z,1761537805.256 [DAT](INFO): DAT read: Bearing 68.1, 70.5 (Local) 2025-10-27T04:03:25.257Z,1761537805.257 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 70.5 (Local) 2025-10-27T04:03:25.260Z,1761537805.260 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed -0.3 2025-10-27T04:03:25.264Z,1761537805.264 [DAT](INFO): DAT read: 04:03:23.9485 LVL= 13776, 15857, 23906, 23123, AGC= 52, IDX= 499, 0.44,-3.014, 2.599, 1.410, 2.868, PHS= 0.504,-0.223,-1.501, RAW= 51.0, 13.8, CAL= 47.3, 16.2, ROT= 102.7, -16.2 2025-10-27T04:03:25.265Z,1761537805.265 [DAT](INFO): got valid direction response: 04:03:23.9485 LVL= 13776, 15857, 23906, 23123, AGC= 52, IDX= 499, 0.44,-3.014, 2.599, 1.410, 2.868, PHS= 0.504,-0.223,-1.501, RAW= 51.0, 13.8, CAL= 47.3, 16.2, ROT= 102.7, -16.2 2025-10-27T04:03:25.266Z,1761537805.266 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T04:03:25.270Z,1761537805.270 [DAT](INFO): direction in FSK: [-0.211117,0.936800,0.278991] 2025-10-27T04:03:25.272Z,1761537805.272 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:25.288Z,1761537805.288 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.609543 2025-10-27T04:03:25.506Z,1761537805.506 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.827789 2025-10-27T04:03:25.626Z,1761537805.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976739,-0.163724,-0.138475],[0.167837,-0.985641,-0.018492],[-0.133459,-0.041303,0.990193]] 2025-10-27T04:03:25.694Z,1761537805.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.504926 s, deltaX: 0.299999 m, approachRate: 0.594145 m/s, rangeRepo size: 4 2025-10-27T04:03:25.697Z,1761537805.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.765488 m, bearing: 270.843770 deg, lat: 36.779352 deg, lon: -121.859547 deg, deltaT: 0.504926 s, deltaX: 0.298637 m, approachRate: 0.591448 m/s, posRepo size: 4 2025-10-27T04:03:25.698Z,1761537805.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m. 2025-10-27T04:03:25.761Z,1761537805.761 [DAT](INFO): DAT read: Rx Time:04:03:24.4485 2025-10-27T04:03:25.762Z,1761537805.762 [DAT](INFO): Rx dataTimestamp_ set to:1761537805.761710 2025-10-27T04:03:25.764Z,1761537805.764 [DAT](INFO): DAT read: Bearing 66.4, 70.5 (Local) 2025-10-27T04:03:25.764Z,1761537805.764 [DAT](INFO): Local bearing/azimuth received: Bearing 66.4, 70.5 (Local) 2025-10-27T04:03:25.766Z,1761537805.766 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed -0.3 2025-10-27T04:03:25.771Z,1761537805.771 [DAT](INFO): DAT read: 04:03:24.4485 LVL= 13296, 17217, 21554, 23123, AGC= 52, IDX= 499, 0.49, 1.312, 0.620,-0.560, 0.903, PHS= 0.511,-0.238,-1.506, RAW= 51.6, 13.9, CAL= 47.8, 16.3, ROT= 102.2, -16.3 2025-10-27T04:03:25.772Z,1761537805.772 [DAT](INFO): got valid direction response: 04:03:24.4485 LVL= 13296, 17217, 21554, 23123, AGC= 52, IDX= 499, 0.49, 1.312, 0.620,-0.560, 0.903, PHS= 0.511,-0.238,-1.506, RAW= 51.6, 13.9, CAL= 47.8, 16.3, ROT= 102.2, -16.3 2025-10-27T04:03:25.772Z,1761537805.772 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T04:03:25.773Z,1761537805.773 [DAT](INFO): direction in FSK: [-0.202831,0.938129,0.280667] 2025-10-27T04:03:25.773Z,1761537805.773 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:25.812Z,1761537805.812 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.133350 2025-10-27T04:03:26.014Z,1761537806.014 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.335175 2025-10-27T04:03:26.030Z,1761537806.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976317,-0.166201,-0.138501],[0.170289,-0.985228,-0.018126],[-0.133443,-0.041282,0.990196]] 2025-10-27T04:03:26.133Z,1761537806.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.508010 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:26.139Z,1761537806.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.765438 m, bearing: 270.192397 deg, lat: 36.779352 deg, lon: -121.859547 deg, deltaT: 0.508010 s, deltaX: -0.000050 m, approachRate: -0.000098 m/s, posRepo size: 4 2025-10-27T04:03:26.140Z,1761537806.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m. 2025-10-27T04:03:26.264Z,1761537806.264 [DAT](INFO): DAT read: Rx Time:04:03:24.9487 2025-10-27T04:03:26.265Z,1761537806.265 [DAT](INFO): Rx dataTimestamp_ set to:1761537806.264675 2025-10-27T04:03:26.266Z,1761537806.266 [DAT](INFO): DAT read: Bearing 65.5, 71.0 (Local) 2025-10-27T04:03:26.267Z,1761537806.267 [DAT](INFO): Local bearing/azimuth received: Bearing 65.5, 71.0 (Local) 2025-10-27T04:03:26.269Z,1761537806.269 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.2 2025-10-27T04:03:26.273Z,1761537806.273 [DAT](INFO): DAT read: 04:03:24.9487 LVL= 14288, 18737, 23970, 23619, AGC= 52, IDX= 501, 0.44, 2.428, 1.728, 0.550, 2.007, PHS= 0.523,-0.234,-1.501, RAW= 51.7, 13.6, CAL= 48.0, 16.0, ROT= 102.0, -16.0 2025-10-27T04:03:26.274Z,1761537806.274 [DAT](INFO): got valid direction response: 04:03:24.9487 LVL= 14288, 18737, 23970, 23619, AGC= 52, IDX= 501, 0.44, 2.428, 1.728, 0.550, 2.007, PHS= 0.523,-0.234,-1.501, RAW= 51.7, 13.6, CAL= 48.0, 16.0, ROT= 102.0, -16.0 2025-10-27T04:03:26.275Z,1761537806.275 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T04:03:26.276Z,1761537806.276 [DAT](INFO): direction in FSK: [-0.199858,0.940256,0.275637] 2025-10-27T04:03:26.276Z,1761537806.276 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:26.280Z,1761537806.280 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.601555 2025-10-27T04:03:26.520Z,1761537806.520 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.841339 2025-10-27T04:03:26.609Z,1761537806.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975287,-0.172051,-0.138612],[0.176118,-0.984213,-0.017530],[-0.133408,-0.041509,0.990192]] 2025-10-27T04:03:26.671Z,1761537806.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.502965 s, deltaX: 0.300001 m, approachRate: 0.596465 m/s, rangeRepo size: 4 2025-10-27T04:03:26.673Z,1761537806.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.064133 m, bearing: 269.699684 deg, lat: 36.779352 deg, lon: -121.859548 deg, deltaT: 0.502965 s, deltaX: 0.298695 m, approachRate: 0.593868 m/s, posRepo size: 4 2025-10-27T04:03:26.674Z,1761537806.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.06 m. 2025-10-27T04:03:26.769Z,1761537806.769 [DAT](INFO): DAT read: Rx Time:04:03:25.4487 2025-10-27T04:03:26.769Z,1761537806.769 [DAT](INFO): Rx dataTimestamp_ set to:1761537806.769128 2025-10-27T04:03:26.771Z,1761537806.771 [DAT](INFO): DAT read: Bearing 65.1, 70.9 (Local) 2025-10-27T04:03:26.771Z,1761537806.771 [DAT](INFO): Local bearing/azimuth received: Bearing 65.1, 70.9 (Local) 2025-10-27T04:03:26.773Z,1761537806.773 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.2 2025-10-27T04:03:26.778Z,1761537806.778 [DAT](INFO): DAT read: 04:03:25.4487 LVL= 12528, 16817, 23762, 23187, AGC= 51, IDX= 501, 0.39, 1.720, 1.020,-0.157, 1.301, PHS= 0.521,-0.236,-1.502, RAW= 51.7, 13.7, CAL= 48.0, 16.1, ROT= 102.0, -16.1 2025-10-27T04:03:26.779Z,1761537806.779 [DAT](INFO): got valid direction response: 04:03:25.4487 LVL= 12528, 16817, 23762, 23187, AGC= 51, IDX= 501, 0.39, 1.720, 1.020,-0.157, 1.301, PHS= 0.521,-0.236,-1.502, RAW= 51.7, 13.7, CAL= 48.0, 16.1, ROT= 102.0, -16.1 2025-10-27T04:03:26.780Z,1761537806.780 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T04:03:26.781Z,1761537806.781 [DAT](INFO): direction in FSK: [-0.199757,0.939784,0.277315] 2025-10-27T04:03:26.781Z,1761537806.781 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:26.785Z,1761537806.785 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.106419 2025-10-27T04:03:27.020Z,1761537807.020 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.341797 2025-10-27T04:03:27.051Z,1761537807.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974633,-0.175732,-0.138598],[0.179788,-0.983555,-0.017211],[-0.133294,-0.041692,0.990199]] 2025-10-27T04:03:27.136Z,1761537807.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504453 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:27.138Z,1761537807.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.064188 m, bearing: 269.471896 deg, lat: 36.779350 deg, lon: -121.859548 deg, deltaT: 0.504453 s, deltaX: 0.000055 m, approachRate: 0.000110 m/s, posRepo size: 4 2025-10-27T04:03:27.138Z,1761537807.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.06 m. 2025-10-27T04:03:27.275Z,1761537807.275 [DAT](INFO): DAT read: Rx Time:04:03:25.9488 2025-10-27T04:03:27.276Z,1761537807.276 [DAT](INFO): Rx dataTimestamp_ set to:1761537807.275651 2025-10-27T04:03:27.277Z,1761537807.277 [DAT](INFO): DAT read: Bearing 64.0, 70.6 (Local) 2025-10-27T04:03:27.278Z,1761537807.278 [DAT](INFO): Local bearing/azimuth received: Bearing 64.0, 70.6 (Local) 2025-10-27T04:03:27.280Z,1761537807.280 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.2 2025-10-27T04:03:27.286Z,1761537807.286 [DAT](INFO): DAT read: 04:03:25.9488 LVL= 12256, 14833, 25362, 23795, AGC= 51, IDX= 503, 0.27,-2.760, 2.807, 1.630, 3.105, PHS= 0.520,-0.253,-1.519, RAW= 52.1, 13.9, CAL= 48.2, 16.5, ROT= 101.8, -16.5 2025-10-27T04:03:27.317Z,1761537807.317 [DAT](INFO): got valid direction response: 04:03:25.9488 LVL= 12256, 14833, 25362, 23795, AGC= 51, IDX= 503, 0.27,-2.760, 2.807, 1.630, 3.105, PHS= 0.520,-0.253,-1.519, RAW= 52.1, 13.9, CAL= 48.2, 16.5, ROT= 101.8, -16.5 2025-10-27T04:03:27.327Z,1761537807.327 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T04:03:27.337Z,1761537807.337 [DAT](INFO): direction in FSK: [-0.196075,0.938557,0.284015] 2025-10-27T04:03:27.338Z,1761537807.338 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:27.393Z,1761537807.393 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.714584 2025-10-27T04:03:27.518Z,1761537807.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973908,-0.179647,-0.138674],[0.183729,-0.982828,-0.017109],[-0.133219,-0.042141,0.990190]] 2025-10-27T04:03:27.525Z,1761537807.525 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.846581 2025-10-27T04:03:27.655Z,1761537807.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.506523 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:27.657Z,1761537807.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.064188 m, bearing: 268.986858 deg, lat: 36.779348 deg, lon: -121.859548 deg, deltaT: 0.506523 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:27.658Z,1761537807.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.06 m. 2025-10-27T04:03:27.777Z,1761537807.777 [DAT](INFO): DAT read: Rx Time:04:03:26.4488 2025-10-27T04:03:27.777Z,1761537807.777 [DAT](INFO): Rx dataTimestamp_ set to:1761537807.776725 2025-10-27T04:03:27.778Z,1761537807.778 [DAT](INFO): DAT read: Bearing 62.6, 69.8 (Local) 2025-10-27T04:03:27.779Z,1761537807.779 [DAT](INFO): Local bearing/azimuth received: Bearing 62.6, 69.8 (Local) 2025-10-27T04:03:27.781Z,1761537807.781 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.2 2025-10-27T04:03:27.785Z,1761537807.785 [DAT](INFO): DAT read: 04:03:26.4488 LVL= 12496, 15633, 22002, 24291, AGC= 52, IDX= 503, 0.12, 2.883, 2.150, 0.982, 2.475, PHS= 0.510,-0.280,-1.537, RAW= 52.5, 14.5, CAL= 48.4, 17.3, ROT= 101.6, -17.3 2025-10-27T04:03:27.787Z,1761537807.787 [DAT](INFO): got valid direction response: 04:03:26.4488 LVL= 12496, 15633, 22002, 24291, AGC= 52, IDX= 503, 0.12, 2.883, 2.150, 0.982, 2.475, PHS= 0.510,-0.280,-1.537, RAW= 52.5, 14.5, CAL= 48.4, 17.3, ROT= 101.6, -17.3 2025-10-27T04:03:27.787Z,1761537807.787 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T04:03:27.788Z,1761537807.788 [DAT](INFO): direction in FSK: [-0.191981,0.935260,0.297375] 2025-10-27T04:03:27.788Z,1761537807.788 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:27.792Z,1761537807.792 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.113827 2025-10-27T04:03:28.029Z,1761537808.029 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.350868 2025-10-27T04:03:28.062Z,1761537808.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973082,-0.183984,-0.138785],[0.188084,-0.982007,-0.016911],[-0.133176,-0.042559,0.990178]] 2025-10-27T04:03:28.154Z,1761537808.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.501074 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:28.161Z,1761537808.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.064150 m, bearing: 268.416273 deg, lat: 36.779347 deg, lon: -121.859547 deg, deltaT: 0.501074 s, deltaX: -0.000038 m, approachRate: -0.000076 m/s, posRepo size: 4 2025-10-27T04:03:28.162Z,1761537808.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.06 m. 2025-10-27T04:03:28.281Z,1761537808.281 [DAT](INFO): DAT read: Rx Time:04:03:26.9489 2025-10-27T04:03:28.282Z,1761537808.282 [DAT](INFO): Rx dataTimestamp_ set to:1761537808.281331 2025-10-27T04:03:28.283Z,1761537808.283 [DAT](INFO): DAT read: Bearing 59.8, 69.5 (Local) 2025-10-27T04:03:28.283Z,1761537808.283 [DAT](INFO): Local bearing/azimuth received: Bearing 59.8, 69.5 (Local) 2025-10-27T04:03:28.285Z,1761537808.285 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed -0.2 2025-10-27T04:03:28.290Z,1761537808.290 [DAT](INFO): DAT read: 04:03:26.9489 LVL= 12768, 14721, 24178, 23923, AGC= 51, IDX= 504,-0.06, 0.950, 0.195,-0.932, 0.541, PHS= 0.512,-0.301,-1.516, RAW= 53.5, 14.6, CAL= 49.3, 17.7, ROT= 100.7, -17.7 2025-10-27T04:03:28.291Z,1761537808.291 [DAT](INFO): got valid direction response: 04:03:26.9489 LVL= 12768, 14721, 24178, 23923, AGC= 51, IDX= 504,-0.06, 0.950, 0.195,-0.932, 0.541, PHS= 0.512,-0.301,-1.516, RAW= 53.5, 14.6, CAL= 49.3, 17.7, ROT= 100.7, -17.7 2025-10-27T04:03:28.292Z,1761537808.292 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T04:03:28.292Z,1761537808.292 [DAT](INFO): direction in FSK: [-0.176877,0.936097,0.304033] 2025-10-27T04:03:28.293Z,1761537808.293 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:28.302Z,1761537808.302 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.623760 2025-10-27T04:03:28.471Z,1761537808.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972161,-0.188723,-0.138878],[0.192825,-0.981093,-0.016575],[-0.133124,-0.042893,0.990171]] 2025-10-27T04:03:28.533Z,1761537808.533 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.854412 2025-10-27T04:03:28.652Z,1761537808.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504606 s, deltaX: 0.199999 m, approachRate: 0.396347 m/s, rangeRepo size: 4 2025-10-27T04:03:28.654Z,1761537808.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.263279 m, bearing: 267.193945 deg, lat: 36.779344 deg, lon: -121.859547 deg, deltaT: 0.504606 s, deltaX: 0.199129 m, approachRate: 0.394623 m/s, posRepo size: 4 2025-10-27T04:03:28.659Z,1761537808.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.26 m. 2025-10-27T04:03:28.784Z,1761537808.784 [DAT](INFO): DAT read: Rx Time:04:03:27.4489 2025-10-27T04:03:28.785Z,1761537808.785 [DAT](INFO): Rx dataTimestamp_ set to:1761537808.784658 2025-10-27T04:03:28.786Z,1761537808.786 [DAT](INFO): DAT read: Bearing 61.2, 68.5 (Local) 2025-10-27T04:03:28.787Z,1761537808.787 [DAT](INFO): Local bearing/azimuth received: Bearing 61.2, 68.5 (Local) 2025-10-27T04:03:28.789Z,1761537808.789 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed -0.1 2025-10-27T04:03:28.793Z,1761537808.793 [DAT](INFO): DAT read: 04:03:27.4489 LVL= 12768, 15841, 20978, 22979, AGC= 51, IDX= 504,-0.42, 0.112,-0.613,-1.737,-0.262, PHS= 0.476,-0.306,-1.519, RAW= 52.9, 15.3, CAL= 48.6, 18.5, ROT= 101.4, -18.5 2025-10-27T04:03:28.794Z,1761537808.794 [DAT](INFO): got valid direction response: 04:03:27.4489 LVL= 12768, 15841, 20978, 22979, AGC= 51, IDX= 504,-0.42, 0.112,-0.613,-1.737,-0.262, PHS= 0.476,-0.306,-1.519, RAW= 52.9, 15.3, CAL= 48.6, 18.5, ROT= 101.4, -18.5 2025-10-27T04:03:28.812Z,1761537808.812 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T04:03:28.813Z,1761537808.813 [DAT](INFO): direction in FSK: [-0.187443,0.929614,0.317305] 2025-10-27T04:03:28.813Z,1761537808.813 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:28.818Z,1761537808.818 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.139973 2025-10-27T04:03:29.037Z,1761537809.037 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.358765 2025-10-27T04:03:29.058Z,1761537809.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970016,-0.199382,-0.138979],[0.203430,-0.978968,-0.015409],[-0.132984,-0.043220,0.990175]] 2025-10-27T04:03:29.146Z,1761537809.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503327 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:29.149Z,1761537809.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.263098 m, bearing: 267.139370 deg, lat: 36.779341 deg, lon: -121.859546 deg, deltaT: 0.503327 s, deltaX: -0.000181 m, approachRate: -0.000360 m/s, posRepo size: 4 2025-10-27T04:03:29.149Z,1761537809.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.26 m. 2025-10-27T04:03:29.289Z,1761537809.289 [DAT](INFO): DAT read: Rx Time:04:03:27.9490 2025-10-27T04:03:29.289Z,1761537809.289 [DAT](INFO): Rx dataTimestamp_ set to:1761537809.288829 2025-10-27T04:03:29.291Z,1761537809.291 [DAT](INFO): DAT read: Bearing 64.2, 68.3 (Local) 2025-10-27T04:03:29.291Z,1761537809.291 [DAT](INFO): Local bearing/azimuth received: Bearing 64.2, 68.3 (Local) 2025-10-27T04:03:29.294Z,1761537809.294 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed -0.1 2025-10-27T04:03:29.353Z,1761537809.353 [DAT](INFO): DAT read: 04:03:27.9490 LVL= 12320, 14833, 22930, 23395, AGC= 50, IDX= 505, 0.02, 2.989, 2.311, 1.153, 2.638, PHS= 0.453,-0.282,-1.528, RAW= 51.5, 15.5, CAL= 47.2, 18.5, ROT= 102.8, -18.5 2025-10-27T04:03:29.361Z,1761537809.361 [DAT](INFO): got valid direction response: 04:03:27.9490 LVL= 12320, 14833, 22930, 23395, AGC= 50, IDX= 505, 0.02, 2.989, 2.311, 1.153, 2.638, PHS= 0.453,-0.282,-1.528, RAW= 51.5, 15.5, CAL= 47.2, 18.5, ROT= 102.8, -18.5 2025-10-27T04:03:29.363Z,1761537809.363 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T04:03:29.390Z,1761537809.390 [DAT](INFO): direction in FSK: [-0.210100,0.924757,0.317305] 2025-10-27T04:03:29.393Z,1761537809.393 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:29.418Z,1761537809.418 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.740028 2025-10-27T04:03:29.540Z,1761537809.540 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.861881 2025-10-27T04:03:29.545Z,1761537809.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968772,-0.205283,-0.139069],[0.209289,-0.977744,-0.014668],[-0.132963,-0.043315,0.990174]] 2025-10-27T04:03:29.669Z,1761537809.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504171 s, deltaX: 0.100000 m, approachRate: 0.198346 m/s, rangeRepo size: 4 2025-10-27T04:03:29.675Z,1761537809.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.362661 m, bearing: 268.171036 deg, lat: 36.779340 deg, lon: -121.859545 deg, deltaT: 0.504171 s, deltaX: 0.099564 m, approachRate: 0.197480 m/s, posRepo size: 4 2025-10-27T04:03:29.676Z,1761537809.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.36 m. 2025-10-27T04:03:29.794Z,1761537809.794 [DAT](INFO): DAT read: Rx Time:04:03:28.4489 2025-10-27T04:03:29.794Z,1761537809.794 [DAT](INFO): Rx dataTimestamp_ set to:1761537809.793880 2025-10-27T04:03:29.796Z,1761537809.796 [DAT](INFO): DAT read: Bearing 66.2, 67.2 (Local) 2025-10-27T04:03:29.796Z,1761537809.796 [DAT](INFO): Local bearing/azimuth received: Bearing 66.2, 67.2 (Local) 2025-10-27T04:03:29.799Z,1761537809.799 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0 2025-10-27T04:03:29.809Z,1761537809.809 [DAT](INFO): DAT read: 04:03:28.4489 LVL= 12928, 15009, 23506, 25667, AGC= 50, IDX= 504, 0.34, 2.789, 2.150, 0.980, 2.477, PHS= 0.415,-0.281,-1.541, RAW= 50.6, 16.2, CAL= 46.1, 19.4, ROT= 103.9, -19.4 2025-10-27T04:03:29.810Z,1761537809.810 [DAT](INFO): got valid direction response: 04:03:28.4489 LVL= 12928, 15009, 23506, 25667, AGC= 50, IDX= 504, 0.34, 2.789, 2.150, 0.980, 2.477, PHS= 0.415,-0.281,-1.541, RAW= 50.6, 16.2, CAL= 46.1, 19.4, ROT= 103.9, -19.4 2025-10-27T04:03:29.810Z,1761537809.810 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T04:03:29.811Z,1761537809.811 [DAT](INFO): direction in FSK: [-0.226589,0.915602,0.332161] 2025-10-27T04:03:29.812Z,1761537809.812 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:29.838Z,1761537809.838 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.159618 2025-10-27T04:03:29.936Z,1761537809.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967416,-0.211430,-0.139299],[0.215414,-0.976422,-0.013999],[-0.133055,-0.043550,0.990151]] 2025-10-27T04:03:29.968Z,1761537809.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.505051 s, deltaX: -0.100000 m, approachRate: -0.198001 m/s, rangeRepo size: 4 2025-10-27T04:03:29.970Z,1761537809.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.263098 m, bearing: 268.751445 deg, lat: 36.779340 deg, lon: -121.859544 deg, deltaT: 0.505051 s, deltaX: -0.099564 m, approachRate: -0.197136 m/s, posRepo size: 4 2025-10-27T04:03:29.971Z,1761537809.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.26 m. 2025-10-27T04:03:30.044Z,1761537810.044 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.366066 2025-10-27T04:03:30.296Z,1761537810.296 [DAT](INFO): DAT read: Rx Time:04:03:28.9491 2025-10-27T04:03:30.297Z,1761537810.297 [DAT](INFO): Rx dataTimestamp_ set to:1761537810.296665 2025-10-27T04:03:30.298Z,1761537810.298 [DAT](INFO): DAT read: Bearing 66.1, 66.5 (Local) 2025-10-27T04:03:30.299Z,1761537810.299 [DAT](INFO): Local bearing/azimuth received: Bearing 66.1, 66.5 (Local) 2025-10-27T04:03:30.301Z,1761537810.301 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.0 2025-10-27T04:03:30.305Z,1761537810.305 [DAT](INFO): DAT read: 04:03:28.9491 LVL= 13360, 14577, 21234, 22899, AGC= 49, IDX= 506,-0.28, 2.382, 1.757, 0.600, 2.090, PHS= 0.395,-0.288,-1.534, RAW= 50.4, 16.6, CAL= 45.8, 19.9, ROT= 104.2, -19.9 2025-10-27T04:03:30.306Z,1761537810.306 [DAT](INFO): got valid direction response: 04:03:28.9491 LVL= 13360, 14577, 21234, 22899, AGC= 49, IDX= 506,-0.28, 2.382, 1.757, 0.600, 2.090, PHS= 0.395,-0.288,-1.534, RAW= 50.4, 16.6, CAL= 45.8, 19.9, ROT= 104.2, -19.9 2025-10-27T04:03:30.308Z,1761537810.308 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T04:03:30.313Z,1761537810.313 [DAT](INFO): direction in FSK: [-0.230660,0.911558,0.340380] 2025-10-27T04:03:30.314Z,1761537810.314 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:30.319Z,1761537810.319 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.640408 2025-10-27T04:03:30.441Z,1761537810.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965990,-0.217782,-0.139408],[0.221739,-0.975015,-0.013323],[-0.133023,-0.043782,0.990145]] 2025-10-27T04:03:30.548Z,1761537810.548 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.870197 2025-10-27T04:03:30.564Z,1761537810.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.502785 s, deltaX: 0.300001 m, approachRate: 0.596679 m/s, rangeRepo size: 4 2025-10-27T04:03:30.570Z,1761537810.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.561796 m, bearing: 268.595453 deg, lat: 36.779340 deg, lon: -121.859543 deg, deltaT: 0.502785 s, deltaX: 0.298698 m, approachRate: 0.594088 m/s, posRepo size: 4 2025-10-27T04:03:30.583Z,1761537810.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.56 m. 2025-10-27T04:03:30.801Z,1761537810.801 [DAT](INFO): DAT read: Rx Time:04:03:29.4490 2025-10-27T04:03:30.801Z,1761537810.801 [DAT](INFO): Rx dataTimestamp_ set to:1761537810.800716 2025-10-27T04:03:30.802Z,1761537810.802 [DAT](INFO): DAT read: Bearing 66.6, 65.5 (Local) 2025-10-27T04:03:30.803Z,1761537810.803 [DAT](INFO): Local bearing/azimuth received: Bearing 66.6, 65.5 (Local) 2025-10-27T04:03:30.806Z,1761537810.806 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 2025-10-27T04:03:30.818Z,1761537810.818 [DAT](INFO): DAT read: 04:03:29.4490 LVL= 13408, 15777, 22674, 25939, AGC= 50, IDX= 505,-0.12, 1.434, 0.838,-0.321, 1.177, PHS= 0.358,-0.294,-1.542, RAW= 49.7, 17.4, CAL= 45.2, 20.8, ROT= 104.8, -20.8 2025-10-27T04:03:30.820Z,1761537810.820 [DAT](INFO): got valid direction response: 04:03:29.4490 LVL= 13408, 15777, 22674, 25939, AGC= 50, IDX= 505,-0.12, 1.434, 0.838,-0.321, 1.177, PHS= 0.358,-0.294,-1.542, RAW= 49.7, 17.4, CAL= 45.2, 20.8, ROT= 104.8, -20.8 2025-10-27T04:03:30.820Z,1761537810.820 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T04:03:30.822Z,1761537810.822 [DAT](INFO): direction in FSK: [-0.238797,0.903811,0.355107] 2025-10-27T04:03:30.822Z,1761537810.822 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:30.868Z,1761537810.868 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.189838 2025-10-27T04:03:31.025Z,1761537811.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963000,-0.230526,-0.139600],[0.234430,-0.972059,-0.011969],[-0.132941,-0.044253,0.990136]] 2025-10-27T04:03:31.052Z,1761537811.052 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.373875 2025-10-27T04:03:31.114Z,1761537811.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504051 s, deltaX: -0.200001 m, approachRate: -0.396787 m/s, rangeRepo size: 4 2025-10-27T04:03:31.128Z,1761537811.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.362810 m, bearing: 268.293868 deg, lat: 36.779340 deg, lon: -121.859542 deg, deltaT: 0.504051 s, deltaX: -0.198986 m, approachRate: -0.394774 m/s, posRepo size: 4 2025-10-27T04:03:31.128Z,1761537811.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.36 m. 2025-10-27T04:03:31.305Z,1761537811.305 [DAT](INFO): DAT read: Rx Time:04:03:29.9491 2025-10-27T04:03:31.305Z,1761537811.305 [DAT](INFO): Rx dataTimestamp_ set to:1761537811.304893 2025-10-27T04:03:31.306Z,1761537811.306 [DAT](INFO): DAT read: Bearing 69.3, 64.9 (Local) 2025-10-27T04:03:31.307Z,1761537811.307 [DAT](INFO): Local bearing/azimuth received: Bearing 69.3, 64.9 (Local) 2025-10-27T04:03:31.309Z,1761537811.309 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.0 2025-10-27T04:03:31.313Z,1761537811.313 [DAT](INFO): DAT read: 04:03:29.9491 LVL= 15184, 18641, 23538, 26323, AGC= 51, IDX= 506,-0.01,-2.599, 3.139, 1.943,-2.830, PHS= 0.332,-0.270,-1.554, RAW= 48.2, 17.5, CAL= 43.7, 20.8, ROT= 106.3, -20.8 2025-10-27T04:03:31.315Z,1761537811.315 [DAT](INFO): got valid direction response: 04:03:29.9491 LVL= 15184, 18641, 23538, 26323, AGC= 51, IDX= 506,-0.01,-2.599, 3.139, 1.943,-2.830, PHS= 0.332,-0.270,-1.554, RAW= 48.2, 17.5, CAL= 43.7, 20.8, ROT= 106.3, -20.8 2025-10-27T04:03:31.315Z,1761537811.315 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T04:03:31.316Z,1761537811.316 [DAT](INFO): direction in FSK: [-0.262374,0.897251,0.355107] 2025-10-27T04:03:31.316Z,1761537811.316 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:31.328Z,1761537811.328 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.648476 2025-10-27T04:03:31.468Z,1761537811.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961472,-0.236892,-0.139480],[0.240724,-0.970531,-0.011034],[-0.132756,-0.044185,0.990163]] 2025-10-27T04:03:31.556Z,1761537811.556 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.877949 2025-10-27T04:03:31.567Z,1761537811.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504177 s, deltaX: 0.200001 m, approachRate: 0.396688 m/s, rangeRepo size: 4 2025-10-27T04:03:31.578Z,1761537811.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.561939 m, bearing: 269.400368 deg, lat: 36.779342 deg, lon: -121.859541 deg, deltaT: 0.504177 s, deltaX: 0.199129 m, approachRate: 0.394959 m/s, posRepo size: 4 2025-10-27T04:03:31.585Z,1761537811.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.56 m. 2025-10-27T04:03:31.809Z,1761537811.809 [DAT](INFO): DAT read: Rx Time:04:03:30.4490 2025-10-27T04:03:31.810Z,1761537811.810 [DAT](INFO): Rx dataTimestamp_ set to:1761537811.809335 2025-10-27T04:03:31.812Z,1761537811.812 [DAT](INFO): DAT read: Bearing 71.7, 64.6 (Local) 2025-10-27T04:03:31.813Z,1761537811.813 [DAT](INFO): Local bearing/azimuth received: Bearing 71.7, 64.6 (Local) 2025-10-27T04:03:31.815Z,1761537811.815 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 2025-10-27T04:03:31.822Z,1761537811.822 [DAT](INFO): DAT read: 04:03:30.4490 LVL= 13520, 15393, 21266, 24307, AGC= 50, IDX= 505, 0.09,-2.916, 2.862, 1.628,-3.131, PHS= 0.317,-0.245,-1.569, RAW= 46.9, 17.5, CAL= 42.4, 20.6, ROT= 107.6, -20.6 2025-10-27T04:03:31.823Z,1761537811.823 [DAT](INFO): got valid direction response: 04:03:30.4490 LVL= 13520, 15393, 21266, 24307, AGC= 50, IDX= 505, 0.09,-2.916, 2.862, 1.628,-3.131, PHS= 0.317,-0.245,-1.569, RAW= 46.9, 17.5, CAL= 42.4, 20.6, ROT= 107.6, -20.6 2025-10-27T04:03:31.824Z,1761537811.824 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T04:03:31.825Z,1761537811.825 [DAT](INFO): direction in FSK: [-0.283036,0.892243,0.351842] 2025-10-27T04:03:31.825Z,1761537811.825 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:31.829Z,1761537811.829 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.150574 2025-10-27T04:03:31.987Z,1761537811.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959876,-0.243295,-0.139452],[0.247041,-0.968954,-0.009948],[-0.132702,-0.044000,0.990179]] 2025-10-27T04:03:32.058Z,1761537812.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504442 s, deltaX: -0.200001 m, approachRate: -0.396479 m/s, rangeRepo size: 4 2025-10-27T04:03:32.060Z,1761537812.060 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.381897 2025-10-27T04:03:32.064Z,1761537812.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.362780 m, bearing: 270.338205 deg, lat: 36.779343 deg, lon: -121.859539 deg, deltaT: 0.504442 s, deltaX: -0.199160 m, approachRate: -0.394812 m/s, posRepo size: 4 2025-10-27T04:03:32.064Z,1761537812.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.36 m. 2025-10-27T04:03:32.313Z,1761537812.313 [DAT](INFO): DAT read: Rx Time:04:03:30.9490 2025-10-27T04:03:32.314Z,1761537812.314 [DAT](INFO): Rx dataTimestamp_ set to:1761537812.313617 2025-10-27T04:03:32.316Z,1761537812.316 [DAT](INFO): DAT read: Bearing 74.5, 64.4 (Local) 2025-10-27T04:03:32.316Z,1761537812.316 [DAT](INFO): Local bearing/azimuth received: Bearing 74.5, 64.4 (Local) 2025-10-27T04:03:32.324Z,1761537812.324 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 2025-10-27T04:03:32.331Z,1761537812.331 [DAT](INFO): DAT read: 04:03:30.9490 LVL= 13552, 17121, 22898, 23731, AGC= 50, IDX= 505, 0.23,-2.635,-3.093, 1.923,-2.835, PHS= 0.302,-0.213,-1.569, RAW= 45.5, 17.4, CAL= 41.0, 20.2, ROT= 109.0, -20.2 2025-10-27T04:03:32.332Z,1761537812.332 [DAT](INFO): got valid direction response: 04:03:30.9490 LVL= 13552, 17121, 22898, 23731, AGC= 50, IDX= 505, 0.23,-2.635,-3.093, 1.923,-2.835, PHS= 0.302,-0.213,-1.569, RAW= 45.5, 17.4, CAL= 41.0, 20.2, ROT= 109.0, -20.2 2025-10-27T04:03:32.333Z,1761537812.333 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T04:03:32.334Z,1761537812.334 [DAT](INFO): direction in FSK: [-0.305543,0.887363,0.345298] 2025-10-27T04:03:32.335Z,1761537812.335 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:32.350Z,1761537812.350 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.672199 2025-10-27T04:03:32.532Z,1761537812.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958288,-0.249655,-0.139128],[0.253293,-0.967350,-0.008797],[-0.132389,-0.043670,0.990235]] 2025-10-27T04:03:32.564Z,1761537812.564 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.885822 2025-10-27T04:03:32.657Z,1761537812.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504282 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:32.663Z,1761537812.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.362780 m, bearing: 271.417043 deg, lat: 36.779345 deg, lon: -121.859538 deg, deltaT: 0.504282 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:32.663Z,1761537812.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.36 m. 2025-10-27T04:03:32.817Z,1761537812.817 [DAT](INFO): DAT read: Rx Time:04:03:31.4490 2025-10-27T04:03:32.817Z,1761537812.817 [DAT](INFO): Rx dataTimestamp_ set to:1761537812.816923 2025-10-27T04:03:32.818Z,1761537812.818 [DAT](INFO): DAT read: Bearing 73.5, 64.0 (Local) 2025-10-27T04:03:32.819Z,1761537812.819 [DAT](INFO): Local bearing/azimuth received: Bearing 73.5, 64.0 (Local) 2025-10-27T04:03:32.821Z,1761537812.821 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 2025-10-27T04:03:32.825Z,1761537812.825 [DAT](INFO): DAT read: 04:03:31.4490 LVL= 13664, 14433, 22610, 25571, AGC= 50, IDX= 505,-0.48, 0.419,-0.041,-1.302, 0.228, PHS= 0.293,-0.224,-1.574, RAW= 45.6, 17.7, CAL= 41.1, 20.6, ROT= 108.9, -20.6 2025-10-27T04:03:32.827Z,1761537812.827 [DAT](INFO): got valid direction response: 04:03:31.4490 LVL= 13664, 14433, 22610, 25571, AGC= 50, IDX= 505,-0.48, 0.419,-0.041,-1.302, 0.228, PHS= 0.293,-0.224,-1.574, RAW= 45.6, 17.7, CAL= 41.1, 20.6, ROT= 108.9, -20.6 2025-10-27T04:03:32.827Z,1761537812.827 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T04:03:32.828Z,1761537812.828 [DAT](INFO): direction in FSK: [-0.303206,0.885592,0.351842] 2025-10-27T04:03:32.828Z,1761537812.828 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:32.832Z,1761537812.832 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.153893 2025-10-27T04:03:32.952Z,1761537812.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955135,-0.261827,-0.138436],[0.265349,-0.964125,-0.007297],[-0.131559,-0.043704,0.990345]] 2025-10-27T04:03:32.976Z,1761537812.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.503306 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:32.978Z,1761537812.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.362780 m, bearing: 270.551838 deg, lat: 36.779350 deg, lon: -121.859537 deg, deltaT: 0.503306 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:32.978Z,1761537812.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.36 m. 2025-10-27T04:03:33.070Z,1761537813.070 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.391735 2025-10-27T04:03:33.320Z,1761537813.320 [DAT](INFO): DAT read: Rx Time:04:03:31.9491 2025-10-27T04:03:33.321Z,1761537813.321 [DAT](INFO): Rx dataTimestamp_ set to:1761537813.320667 2025-10-27T04:03:33.322Z,1761537813.322 [DAT](INFO): DAT read: Bearing 73.2, 63.4 (Local) 2025-10-27T04:03:33.324Z,1761537813.324 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, 63.4 (Local) 2025-10-27T04:03:33.329Z,1761537813.329 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed -0.1 2025-10-27T04:03:33.346Z,1761537813.346 [DAT](INFO): DAT read: 04:03:31.9491 LVL= 14816, 16753, 23186, 25843, AGC= 50, IDX= 506,-0.13, 1.204, 0.754,-0.514, 1.032, PHS= 0.274,-0.233,-1.591, RAW= 45.2, 18.2, CAL= 40.9, 21.2, ROT= 109.1, -21.2 2025-10-27T04:03:33.367Z,1761537813.367 [DAT](INFO): got valid direction response: 04:03:31.9491 LVL= 14816, 16753, 23186, 25843, AGC= 50, IDX= 506,-0.13, 1.204, 0.754,-0.514, 1.032, PHS= 0.274,-0.233,-1.591, RAW= 45.2, 18.2, CAL= 40.9, 21.2, ROT= 109.1, -21.2 2025-10-27T04:03:33.368Z,1761537813.368 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T04:03:33.369Z,1761537813.369 [DAT](INFO): direction in FSK: [-0.305073,0.880998,0.361625] 2025-10-27T04:03:33.369Z,1761537813.369 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:33.372Z,1761537813.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953539,-0.267821,-0.137970],[0.271320,-0.962465,-0.006856],[-0.130955,-0.043972,0.990413]] 2025-10-27T04:03:33.381Z,1761537813.381 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.702724 2025-10-27T04:03:33.506Z,1761537813.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503744 s, deltaX: 0.200001 m, approachRate: 0.397029 m/s, rangeRepo size: 4 2025-10-27T04:03:33.524Z,1761537813.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.561979 m, bearing: 270.310428 deg, lat: 36.779350 deg, lon: -121.859536 deg, deltaT: 0.503744 s, deltaX: 0.199200 m, approachRate: 0.395438 m/s, posRepo size: 4 2025-10-27T04:03:33.524Z,1761537813.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.56 m. 2025-10-27T04:03:33.576Z,1761537813.576 [DAT](INFO): DAT read: Rx Time:04:03:32.4490 2025-10-27T04:03:33.577Z,1761537813.577 [DAT](INFO): Rx dataTimestamp_ set to:1761537813.576394 2025-10-27T04:03:33.580Z,1761537813.580 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.900616 2025-10-27T04:03:33.784Z,1761537813.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951971,-0.273615,-0.137424],[0.277103,-0.960818,-0.006548],[-0.130248,-0.044314,0.990491]] 2025-10-27T04:03:33.825Z,1761537813.825 [DAT](INFO): DAT read: Bearing 77.5, 63.3 (Local) 2025-10-27T04:03:33.825Z,1761537813.825 [DAT](INFO): Local bearing/azimuth received: Bearing 77.5, 63.3 (Local) 2025-10-27T04:03:33.827Z,1761537813.827 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 2025-10-27T04:03:33.832Z,1761537813.832 [DAT](INFO): DAT read: 04:03:32.4490 LVL= 13072, 15393, 22514, 23939, AGC= 51, IDX= 505, 0.17, 1.437, 1.051,-0.280, 1.272, PHS= 0.267,-0.176,-1.596, RAW= 43.2, 17.5, CAL= 38.9, 20.2, ROT= 111.1, -20.2 2025-10-27T04:03:33.833Z,1761537813.833 [DAT](INFO): got valid direction response: 04:03:32.4490 LVL= 13072, 15393, 22514, 23939, AGC= 51, IDX= 505, 0.17, 1.437, 1.051,-0.280, 1.272, PHS= 0.267,-0.176,-1.596, RAW= 43.2, 17.5, CAL= 38.9, 20.2, ROT= 111.1, -20.2 2025-10-27T04:03:33.833Z,1761537813.833 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T04:03:33.834Z,1761537813.834 [DAT](INFO): direction in FSK: [-0.337854,0.875570,0.345298] 2025-10-27T04:03:33.835Z,1761537813.835 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:33.838Z,1761537813.838 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.160065 2025-10-27T04:03:33.850Z,1761537813.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.502816 s, deltaX: -0.200001 m, approachRate: -0.397761 m/s, rangeRepo size: 4 2025-10-27T04:03:33.852Z,1761537813.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.362848 m, bearing: 272.114813 deg, lat: 36.779350 deg, lon: -121.859536 deg, deltaT: 0.502816 s, deltaX: -0.199131 m, approachRate: -0.396032 m/s, posRepo size: 4 2025-10-27T04:03:33.852Z,1761537813.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.36 m. 2025-10-27T04:03:34.079Z,1761537814.079 [DAT](INFO): DAT read: Rx Time:04:03:32.9492 2025-10-27T04:03:34.081Z,1761537814.081 [DAT](INFO): Rx dataTimestamp_ set to:1761537814.079607 2025-10-27T04:03:34.082Z,1761537814.082 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.403721 2025-10-27T04:03:34.185Z,1761537814.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950532,-0.279059,-0.136433],[0.282496,-0.959249,-0.006113],[-0.129167,-0.044353,0.990631]] 2025-10-27T04:03:34.220Z,1761537814.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.36 m. 2025-10-27T04:03:34.329Z,1761537814.329 [DAT](INFO): DAT read: Bearing 76.1, 62.5 (Local) 2025-10-27T04:03:34.329Z,1761537814.329 [DAT](INFO): Local bearing/azimuth received: Bearing 76.1, 62.5 (Local) 2025-10-27T04:03:34.331Z,1761537814.331 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed -0.1 2025-10-27T04:03:34.337Z,1761537814.337 [DAT](INFO): DAT read: 04:03:32.9492 LVL= 13952, 13841, 23506, 24995, AGC= 50, IDX= 507,-0.18,-0.345,-0.718,-2.010,-0.481, PHS= 0.238,-0.192,-1.573, RAW= 43.1, 18.2, CAL= 38.9, 21.1, ROT= 111.1, -21.1 2025-10-27T04:03:34.339Z,1761537814.339 [DAT](INFO): got valid direction response: 04:03:32.9492 LVL= 13952, 13841, 23506, 24995, AGC= 50, IDX= 507,-0.18,-0.345,-0.718,-2.010,-0.481, PHS= 0.238,-0.192,-1.573, RAW= 43.1, 18.2, CAL= 38.9, 21.1, ROT= 111.1, -21.1 2025-10-27T04:03:34.340Z,1761537814.340 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T04:03:34.341Z,1761537814.341 [DAT](INFO): direction in FSK: [-0.335860,0.870402,0.359997] 2025-10-27T04:03:34.342Z,1761537814.342 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:34.346Z,1761537814.346 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.667721 2025-10-27T04:03:34.583Z,1761537814.583 [DAT](INFO): DAT read: Rx Time:04:03:33.4492 2025-10-27T04:03:34.584Z,1761537814.584 [DAT](INFO): Rx dataTimestamp_ set to:1761537814.583360 2025-10-27T04:03:34.586Z,1761537814.586 [DAT](INFO): DAT read: Bearing 78.9, 62.1 (Local) 2025-10-27T04:03:34.588Z,1761537814.588 [DAT](INFO): Local bearing/azimuth received: Bearing 78.9, 62.1 (Local) 2025-10-27T04:03:34.590Z,1761537814.590 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.910988 2025-10-27T04:03:34.714Z,1761537814.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.503934 s, deltaX: 0.299999 m, approachRate: 0.595315 m/s, rangeRepo size: 4 2025-10-27T04:03:34.718Z,1761537814.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.661705 m, bearing: 271.673913 deg, lat: 36.779354 deg, lon: -121.859535 deg, deltaT: 0.503934 s, deltaX: 0.298857 m, approachRate: 0.593047 m/s, posRepo size: 4 2025-10-27T04:03:34.718Z,1761537814.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.66 m. 2025-10-27T04:03:34.834Z,1761537814.834 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed -0.2 2025-10-27T04:03:34.846Z,1761537814.846 [DAT](INFO): DAT read: 04:03:33.4492 LVL= 13440, 14913, 21714, 22691, AGC= 51, IDX= 506, 0.33, 0.107,-0.215,-1.565,-0.016, PHS= 0.225,-0.154,-1.593, RAW= 41.4, 17.9, CAL= 37.4, 20.8, ROT= 112.6, -20.8 2025-10-27T04:03:34.861Z,1761537814.861 [DAT](INFO): got valid direction response: 04:03:33.4492 LVL= 13440, 14913, 21714, 22691, AGC= 51, IDX= 506, 0.33, 0.107,-0.215,-1.565,-0.016, PHS= 0.225,-0.154,-1.593, RAW= 41.4, 17.9, CAL= 37.4, 20.8, ROT= 112.6, -20.8 2025-10-27T04:03:34.861Z,1761537814.861 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T04:03:34.862Z,1761537814.862 [DAT](INFO): direction in FSK: [-0.359249,0.863041,0.355107] 2025-10-27T04:03:34.862Z,1761537814.862 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:34.867Z,1761537814.867 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.188339 2025-10-27T04:03:34.996Z,1761537814.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947422,-0.290637,-0.133869],[0.293768,-0.955869,-0.003814],[-0.126853,-0.042940,0.990992]] 2025-10-27T04:03:35.067Z,1761537815.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.503989 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:35.090Z,1761537815.090 [DAT](INFO): DAT read: Rx Time:04:03:33.9493 2025-10-27T04:03:35.091Z,1761537815.091 [DAT](INFO): Rx dataTimestamp_ set to:1761537815.090296 2025-10-27T04:03:35.094Z,1761537815.094 [DAT](INFO): DAT read: Bearing 78.7, 61.2 (Local) 2025-10-27T04:03:35.095Z,1761537815.095 [DAT](INFO): Local bearing/azimuth received: Bearing 78.7, 61.2 (Local) 2025-10-27T04:03:35.100Z,1761537815.100 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed -0.2 2025-10-27T04:03:35.102Z,1761537815.102 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T04:03:35.103Z,1761537815.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.661713 m, bearing: 272.580131 deg, lat: 36.779355 deg, lon: -121.859534 deg, deltaT: 0.503989 s, deltaX: 0.000008 m, approachRate: 0.000015 m/s, posRepo size: 4 2025-10-27T04:03:35.105Z,1761537815.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.66 m. 2025-10-27T04:03:35.121Z,1761537815.121 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.442394 2025-10-27T04:03:35.340Z,1761537815.340 [DAT](INFO): DAT read: 04:03:33.9493 LVL= 13904, 15041, 19266, 24307, AGC= 50, IDX= 508, 0.08, 0.434, 0.137,-1.215, 0.341, PHS= 0.196,-0.158,-1.600, RAW= 40.7, 18.5, CAL= 36.8, 21.5, ROT= 113.2, -21.5 2025-10-27T04:03:35.341Z,1761537815.341 [DAT](INFO): got valid direction response: 04:03:33.9493 LVL= 13904, 15041, 19266, 24307, AGC= 50, IDX= 508, 0.08, 0.434, 0.137,-1.215, 0.341, PHS= 0.196,-0.158,-1.600, RAW= 40.7, 18.5, CAL= 36.8, 21.5, ROT= 113.2, -21.5 2025-10-27T04:03:35.341Z,1761537815.341 [DAT](INFO): #Rx 104: Read direction message, but no range. 2025-10-27T04:03:35.342Z,1761537815.342 [DAT](INFO): direction in FSK: [-0.366530,0.855180,0.366501] 2025-10-27T04:03:35.345Z,1761537815.345 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.667236 2025-10-27T04:03:35.591Z,1761537815.591 [DAT](INFO): DAT read: Rx Time:04:03:34.4493 2025-10-27T04:03:35.593Z,1761537815.593 [DAT](INFO): Rx dataTimestamp_ set to:1761537815.592097 2025-10-27T04:03:35.610Z,1761537815.610 [DAT](INFO): DAT read: Bearing 79.1, 60.3 (Local) 2025-10-27T04:03:35.611Z,1761537815.611 [DAT](INFO): Local bearing/azimuth received: Bearing 79.1, 60.3 (Local) 2025-10-27T04:03:35.620Z,1761537815.620 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed -0.2 2025-10-27T04:03:35.622Z,1761537815.622 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-27T04:03:35.625Z,1761537815.625 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.946003 2025-10-27T04:03:35.651Z,1761537815.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.760691 s, deltaX: 0.200001 m, approachRate: 0.262920 m/s, rangeRepo size: 4 2025-10-27T04:03:35.653Z,1761537815.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.860844 m, bearing: 273.067361 deg, lat: 36.779357 deg, lon: -121.859534 deg, deltaT: 0.760691 s, deltaX: 0.199131 m, approachRate: 0.261776 m/s, posRepo size: 4 2025-10-27T04:03:35.653Z,1761537815.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.86 m. 2025-10-27T04:03:35.844Z,1761537815.844 [DAT](INFO): DAT read: 04:03:34.4493 LVL= 14384, 15649, 21394, 26435, AGC= 50, IDX= 508,-0.09,-2.235,-2.493, 2.445,-2.296, PHS= 0.162,-0.152,-1.587, RAW= 39.7, 19.0, CAL= 36.0, 22.1, ROT= 114.0, -22.1 2025-10-27T04:03:35.845Z,1761537815.845 [DAT](INFO): got valid direction response: 04:03:34.4493 LVL= 14384, 15649, 21394, 26435, AGC= 50, IDX= 508,-0.09,-2.235,-2.493, 2.445,-2.296, PHS= 0.162,-0.152,-1.587, RAW= 39.7, 19.0, CAL= 36.0, 22.1, ROT= 114.0, -22.1 2025-10-27T04:03:35.845Z,1761537815.845 [DAT](INFO): #Rx 106: Read direction message, but no range. 2025-10-27T04:03:35.846Z,1761537815.846 [DAT](INFO): direction in FSK: [-0.376853,0.846426,0.376224] 2025-10-27T04:03:35.853Z,1761537815.853 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.174522 2025-10-27T04:03:35.980Z,1761537815.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944351,-0.301691,-0.131086],[0.304649,-0.952461,-0.002641],[-0.124058,-0.042429,0.991367]] 2025-10-27T04:03:36.000Z,1761537816.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.86 m. 2025-10-27T04:03:36.096Z,1761537816.096 [DAT](INFO): DAT read: Rx Time:04:03:34.9494 2025-10-27T04:03:36.097Z,1761537816.097 [DAT](INFO): Rx dataTimestamp_ set to:1761537816.096353 2025-10-27T04:03:36.100Z,1761537816.100 [DAT](INFO): DAT read: Bearing 80.2, 59.4 (Local) 2025-10-27T04:03:36.101Z,1761537816.101 [DAT](INFO): Local bearing/azimuth received: Bearing 80.2, 59.4 (Local) 2025-10-27T04:03:36.106Z,1761537816.106 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed -0.2 2025-10-27T04:03:36.117Z,1761537816.117 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-27T04:03:36.135Z,1761537816.135 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.452549 2025-10-27T04:03:36.348Z,1761537816.348 [DAT](INFO): DAT read: 04:03:34.9494 LVL= 15584, 15505, 22178, 25459, AGC= 51, IDX= 509,-0.27,-2.400,-2.613, 2.305,-2.432, PHS= 0.134,-0.136,-1.591, RAW= 38.3, 19.3, CAL= 34.8, 22.4, ROT= 115.2, -22.4 2025-10-27T04:03:36.349Z,1761537816.349 [DAT](INFO): got valid direction response: 04:03:34.9494 LVL= 15584, 15505, 22178, 25459, AGC= 51, IDX= 509,-0.27,-2.400,-2.613, 2.305,-2.432, PHS= 0.134,-0.136,-1.591, RAW= 38.3, 19.3, CAL= 34.8, 22.4, ROT= 115.2, -22.4 2025-10-27T04:03:36.349Z,1761537816.349 [DAT](INFO): #Rx 108: Read direction message, but no range. 2025-10-27T04:03:36.350Z,1761537816.350 [DAT](INFO): direction in FSK: [-0.393652,0.836554,0.381070] 2025-10-27T04:03:36.354Z,1761537816.354 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.675400 2025-10-27T04:03:36.381Z,1761537816.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942766,-0.307129,-0.129860],[0.310084,-0.950705,-0.002682],[-0.122635,-0.042795,0.991529]] 2025-10-27T04:03:36.446Z,1761537816.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504256 s, deltaX: 0.099998 m, approachRate: 0.198309 m/s, rangeRepo size: 4 2025-10-27T04:03:36.464Z,1761537816.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.960344 m, bearing: 274.030165 deg, lat: 36.779359 deg, lon: -121.859534 deg, deltaT: 0.504256 s, deltaX: 0.099501 m, approachRate: 0.197322 m/s, posRepo size: 4 2025-10-27T04:03:36.465Z,1761537816.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.96 m. 2025-10-27T04:03:36.600Z,1761537816.600 [DAT](INFO): DAT read: Rx Time:04:03:35.4494 2025-10-27T04:03:36.602Z,1761537816.602 [DAT](INFO): Rx dataTimestamp_ set to:1761537816.600654 2025-10-27T04:03:36.605Z,1761537816.605 [DAT](INFO): DAT read: Bearing 81.2, 58.6 (Local) 2025-10-27T04:03:36.606Z,1761537816.606 [DAT](INFO): Local bearing/azimuth received: Bearing 81.2, 58.6 (Local) 2025-10-27T04:03:36.611Z,1761537816.611 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed -0.2 2025-10-27T04:03:36.614Z,1761537816.614 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-27T04:03:36.617Z,1761537816.617 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.938404 2025-10-27T04:03:36.852Z,1761537816.852 [DAT](INFO): DAT read: 04:03:35.4494 LVL= 16960, 17521, 25010, 25459, AGC= 52, IDX= 509,-0.49, 3.080, 2.908, 1.511, 3.072, PHS= 0.110,-0.119,-1.604, RAW= 37.1, 19.5, CAL= 33.7, 22.6, ROT= 116.3, -22.6 2025-10-27T04:03:36.853Z,1761537816.853 [DAT](INFO): got valid direction response: 04:03:35.4494 LVL= 16960, 17521, 25010, 25459, AGC= 52, IDX= 509,-0.49, 3.080, 2.908, 1.511, 3.072, PHS= 0.110,-0.119,-1.604, RAW= 37.1, 19.5, CAL= 33.7, 22.6, ROT= 116.3, -22.6 2025-10-27T04:03:36.853Z,1761537816.853 [DAT](INFO): #Rx 110: Read direction message, but no range. 2025-10-27T04:03:36.854Z,1761537816.854 [DAT](INFO): direction in FSK: [-0.409048,0.827645,0.384295] 2025-10-27T04:03:36.857Z,1761537816.857 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.179211 2025-10-27T04:03:36.952Z,1761537816.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:36.954Z,1761537816.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.960344 m, bearing: 275.093938 deg, lat: 36.779361 deg, lon: -121.859533 deg, deltaT: 0.504301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:36.954Z,1761537816.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.96 m. 2025-10-27T04:03:37.103Z,1761537817.103 [DAT](INFO): DAT read: Rx Time:04:03:35.9495 2025-10-27T04:03:37.105Z,1761537817.105 [DAT](INFO): Rx dataTimestamp_ set to:1761537817.104026 2025-10-27T04:03:37.109Z,1761537817.109 [DAT](INFO): DAT read: Bearing 84.2, 58.5 (Local) 2025-10-27T04:03:37.110Z,1761537817.110 [DAT](INFO): Local bearing/azimuth received: Bearing 84.2, 58.5 (Local) 2025-10-27T04:03:37.131Z,1761537817.131 [DAT](INFO): DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed -0.2 2025-10-27T04:03:37.140Z,1761537817.140 [DAT](INFO): DAT read: 04:03:35.9495 LVL= 17008, 16689, 23922, 25747, AGC= 52, IDX= 510, 0.29,-0.067,-0.191,-1.638,-0.079, PHS= 0.114,-0.067,-1.602, RAW= 35.5, 18.6, CAL= 32.2, 21.5, ROT= 117.8, -21.5 2025-10-27T04:03:37.142Z,1761537817.142 [DAT](INFO): got valid direction response: 04:03:35.9495 LVL= 17008, 16689, 23922, 25747, AGC= 52, IDX= 510, 0.29,-0.067,-0.191,-1.638,-0.079, PHS= 0.114,-0.067,-1.602, RAW= 35.5, 18.6, CAL= 32.2, 21.5, ROT= 117.8, -21.5 2025-10-27T04:03:37.142Z,1761537817.142 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T04:03:37.148Z,1761537817.148 [DAT](INFO): direction in FSK: [-0.433934,0.823030,0.366501] 2025-10-27T04:03:37.149Z,1761537817.149 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:37.158Z,1761537817.158 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.479702 2025-10-27T04:03:37.352Z,1761537817.352 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.673870 2025-10-27T04:03:37.354Z,1761537817.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937386,-0.324831,-0.125664],[0.327710,-0.944776,-0.002372],[-0.117954,-0.043405,0.992070]] 2025-10-27T04:03:37.400Z,1761537817.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.503372 s, deltaX: 0.200001 m, approachRate: 0.397322 m/s, rangeRepo size: 4 2025-10-27T04:03:37.402Z,1761537817.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.159439 m, bearing: 275.790522 deg, lat: 36.779365 deg, lon: -121.859531 deg, deltaT: 0.503372 s, deltaX: 0.199095 m, approachRate: 0.395522 m/s, posRepo size: 4 2025-10-27T04:03:37.403Z,1761537817.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.16 m. 2025-10-27T04:03:37.608Z,1761537817.608 [DAT](INFO): DAT read: Rx Time:04:03:36.4495 2025-10-27T04:03:37.609Z,1761537817.609 [DAT](INFO): Rx dataTimestamp_ set to:1761537817.608395 2025-10-27T04:03:37.613Z,1761537817.613 [DAT](INFO): DAT read: Bearing 85.5, 58.3 (Local) 2025-10-27T04:03:37.614Z,1761537817.614 [DAT](INFO): Local bearing/azimuth received: Bearing 85.5, 58.3 (Local) 2025-10-27T04:03:37.627Z,1761537817.627 [DAT](INFO): DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed -0.2 2025-10-27T04:03:37.629Z,1761537817.629 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-27T04:03:37.630Z,1761537817.630 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.951679 2025-10-27T04:03:37.792Z,1761537817.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935383,-0.331186,-0.123996],[0.333964,-0.942584,-0.001723],[-0.116306,-0.043022,0.992281]] 2025-10-27T04:03:37.837Z,1761537817.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.504369 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:37.837Z,1761537817.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.16 m. 2025-10-27T04:03:37.860Z,1761537817.860 [DAT](INFO): DAT read: 04:03:36.4495 LVL= 17072, 17649, 25378, 26883, AGC= 52, IDX= 510, 0.12,-0.976,-1.071,-2.542,-0.984, PHS= 0.110,-0.042,-1.602, RAW= 34.6, 18.3, CAL= 31.4, 21.1, ROT= 118.6, -21.1 2025-10-27T04:03:37.861Z,1761537817.861 [DAT](INFO): got valid direction response: 04:03:36.4495 LVL= 17072, 17649, 25378, 26883, AGC= 52, IDX= 510, 0.12,-0.976,-1.071,-2.542,-0.984, PHS= 0.110,-0.042,-1.602, RAW= 34.6, 18.3, CAL= 31.4, 21.1, ROT= 118.6, -21.1 2025-10-27T04:03:37.861Z,1761537817.861 [DAT](INFO): #Rx 113: Read direction message, but no range. 2025-10-27T04:03:37.862Z,1761537817.862 [DAT](INFO): direction in FSK: [-0.446597,0.819117,0.359997] 2025-10-27T04:03:37.882Z,1761537817.882 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.203445 2025-10-27T04:03:38.112Z,1761537818.112 [DAT](INFO): DAT read: Rx Time:04:03:36.9497 2025-10-27T04:03:38.114Z,1761537818.114 [DAT](INFO): Rx dataTimestamp_ set to:1761537818.112823 2025-10-27T04:03:38.118Z,1761537818.118 [DAT](INFO): DAT read: Bearing 70.4, 56.7 (Local) 2025-10-27T04:03:38.119Z,1761537818.119 [DAT](INFO): Local bearing/azimuth received: Bearing 70.4, 56.7 (Local) 2025-10-27T04:03:38.128Z,1761537818.128 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed -0.1 2025-10-27T04:03:38.143Z,1761537818.143 [DAT](INFO): DAT read: 04:03:36.9497 LVL= 17728, 18801, 27346, 27235, AGC= 52, IDX= 512,-0.05, 2.947, 2.585, 0.993, 2.982, PHS= 0.068,-0.352,-2.032, RAW= 40.9, 23.1, CAL= 37.3, 27.1, ROT= 112.7, -27.1 2025-10-27T04:03:38.144Z,1761537818.144 [DAT](INFO): got valid direction response: 04:03:36.9497 LVL= 17728, 18801, 27346, 27235, AGC= 52, IDX= 512,-0.05, 2.947, 2.585, 0.993, 2.982, PHS= 0.068,-0.352,-2.032, RAW= 40.9, 23.1, CAL= 37.3, 27.1, ROT= 112.7, -27.1 2025-10-27T04:03:38.145Z,1761537818.145 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T04:03:38.146Z,1761537818.146 [DAT](INFO): direction in FSK: [-0.343538,0.821255,0.455545] 2025-10-27T04:03:38.146Z,1761537818.146 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:38.154Z,1761537818.154 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.475624 2025-10-27T04:03:38.194Z,1761537818.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933067,-0.338134,-0.122684],[0.340827,-0.940125,-0.001027],[-0.114991,-0.042773,0.992445]] 2025-10-27T04:03:38.244Z,1761537818.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.504428 s, deltaX: 0.299999 m, approachRate: 0.594732 m/s, rangeRepo size: 4 2025-10-27T04:03:38.246Z,1761537818.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.458134 m, bearing: 269.160343 deg, lat: 36.779365 deg, lon: -121.859530 deg, deltaT: 1.008797 s, deltaX: 0.298695 m, approachRate: 0.296090 m/s, posRepo size: 4 2025-10-27T04:03:38.246Z,1761537818.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.46 m. 2025-10-27T04:03:38.360Z,1761537818.360 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.681976 2025-10-27T04:03:38.612Z,1761537818.612 [DAT](INFO): DAT read: Rx Time:04:03:37.4497 2025-10-27T04:03:38.613Z,1761537818.613 [DAT](INFO): Rx dataTimestamp_ set to:1761537818.612337 2025-10-27T04:03:38.614Z,1761537818.614 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed -0.1 2025-10-27T04:03:38.614Z,1761537818.614 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-27T04:03:38.615Z,1761537818.615 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.937325 2025-10-27T04:03:38.650Z,1761537818.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930799,-0.344768,-0.121444],[0.347457,-0.937695,-0.001033],[-0.113521,-0.043159,0.992598]] 2025-10-27T04:03:38.713Z,1761537818.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.499514 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:38.714Z,1761537818.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.46 m. 2025-10-27T04:03:38.864Z,1761537818.864 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.185707 2025-10-27T04:03:39.029Z,1761537819.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928284,-0.351818,-0.120472],[0.354541,-0.935040,-0.001249],[-0.112207,-0.043872,0.992716]] 2025-10-27T04:03:39.076Z,1761537819.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.46 m. 2025-10-27T04:03:39.120Z,1761537819.120 [DAT](INFO): DAT read: Rx Time:04:03:37.9498 2025-10-27T04:03:39.121Z,1761537819.121 [DAT](INFO): Rx dataTimestamp_ set to:1761537819.120690 2025-10-27T04:03:39.122Z,1761537819.122 [DAT](INFO): DAT read: Bearing 69.9, 54.3 (Local) 2025-10-27T04:03:39.122Z,1761537819.122 [DAT](INFO): Local bearing/azimuth received: Bearing 69.9, 54.3 (Local) 2025-10-27T04:03:39.125Z,1761537819.125 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed -0.1 2025-10-27T04:03:39.129Z,1761537819.129 [DAT](INFO): DAT read: 04:03:37.9498 LVL= 17296, 14785, 24658, 27571, AGC= 51, IDX= 513, 0.10,-0.655,-0.943,-2.532,-0.535, PHS=-0.018,-0.363,-2.041, RAW= 39.2, 24.6, CAL= 35.9, 28.9, ROT= 114.1, -28.9 2025-10-27T04:03:39.131Z,1761537819.131 [DAT](INFO): got valid direction response: 04:03:37.9498 LVL= 17296, 14785, 24658, 27571, AGC= 51, IDX= 513, 0.10,-0.655,-0.943,-2.532,-0.535, PHS=-0.018,-0.363,-2.041, RAW= 39.2, 24.6, CAL= 35.9, 28.9, ROT= 114.1, -28.9 2025-10-27T04:03:39.131Z,1761537819.131 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T04:03:39.132Z,1761537819.132 [DAT](INFO): direction in FSK: [-0.357479,0.799154,0.483282] 2025-10-27T04:03:39.132Z,1761537819.132 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:39.148Z,1761537819.148 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.470139 2025-10-27T04:03:39.368Z,1761537819.368 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.689850 2025-10-27T04:03:39.422Z,1761537819.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925784,-0.358628,-0.119626],[0.361432,-0.932397,-0.001871],[-0.110868,-0.044969,0.992817]] 2025-10-27T04:03:39.445Z,1761537819.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.508353 s, deltaX: 0.100002 m, approachRate: 0.196718 m/s, rangeRepo size: 4 2025-10-27T04:03:39.463Z,1761537819.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.557568 m, bearing: 269.118632 deg, lat: 36.779365 deg, lon: -121.859527 deg, deltaT: 1.007867 s, deltaX: 0.099434 m, approachRate: 0.098658 m/s, posRepo size: 4 2025-10-27T04:03:39.464Z,1761537819.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m. 2025-10-27T04:03:39.621Z,1761537819.621 [DAT](INFO): DAT read: Rx Time:04:03:38.4498 2025-10-27T04:03:39.622Z,1761537819.622 [DAT](INFO): Rx dataTimestamp_ set to:1761537819.621589 2025-10-27T04:03:39.623Z,1761537819.623 [DAT](INFO): DAT read: Bearing 85.1, 57.2 (Local) 2025-10-27T04:03:39.624Z,1761537819.624 [DAT](INFO): Local bearing/azimuth received: Bearing 85.1, 57.2 (Local) 2025-10-27T04:03:39.626Z,1761537819.626 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0 2025-10-27T04:03:39.626Z,1761537819.626 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-27T04:03:39.628Z,1761537819.628 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.949413 2025-10-27T04:03:39.825Z,1761537819.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923099,-0.365724,-0.118885],[0.368565,-0.929600,-0.002056],[-0.109763,-0.045715,0.992906]] 2025-10-27T04:03:39.869Z,1761537819.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.500899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:39.870Z,1761537819.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m. 2025-10-27T04:03:39.876Z,1761537819.876 [DAT](INFO): DAT read: 04:03:38.4498 LVL= 15840, 15121, 25586, 26035, AGC= 51, IDX= 513,-0.37, 2.806, 2.735, 0.957, 2.804, PHS= 0.104,-0.024,-1.891, RAW= 33.3, 18.3, CAL= 30.3, 21.1, ROT= 119.7, -21.1 2025-10-27T04:03:39.878Z,1761537819.878 [DAT](INFO): got valid direction response: 04:03:38.4498 LVL= 15840, 15121, 25586, 26035, AGC= 51, IDX= 513,-0.37, 2.806, 2.735, 0.957, 2.804, PHS= 0.104,-0.024,-1.891, RAW= 33.3, 18.3, CAL= 30.3, 21.1, ROT= 119.7, -21.1 2025-10-27T04:03:39.878Z,1761537819.878 [DAT](INFO): #Rx 118: Read direction message, but no range. 2025-10-27T04:03:39.879Z,1761537819.879 [DAT](INFO): direction in FSK: [-0.462240,0.810393,0.359997] 2025-10-27T04:03:39.883Z,1761537819.883 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.204449 2025-10-27T04:03:40.128Z,1761537820.128 [DAT](INFO): DAT read: Rx Time:04:03:38.9499 2025-10-27T04:03:40.129Z,1761537820.129 [DAT](INFO): Rx dataTimestamp_ set to:1761537820.128333 2025-10-27T04:03:40.133Z,1761537820.133 [DAT](INFO): DAT read: Bearing 87.0, 56.2 (Local) 2025-10-27T04:03:40.134Z,1761537820.134 [DAT](INFO): Local bearing/azimuth received: Bearing 87.0, 56.2 (Local) 2025-10-27T04:03:40.138Z,1761537820.138 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.0 2025-10-27T04:03:40.142Z,1761537820.142 [DAT](INFO): DAT read: 04:03:38.9499 LVL= 15344, 14161, 21618, 19539, AGC= 53, IDX= 2,-0.08, 0.426, 0.436,-1.108, 0.458, PHS= 0.070, 0.023,-1.611, RAW= 31.4, 17.9, CAL= 28.6, 20.8, ROT= 121.4, -20.8 2025-10-27T04:03:40.148Z,1761537820.148 [DAT](INFO): got valid direction response: 04:03:38.9499 LVL= 15344, 14161, 21618, 19539, AGC= 53, IDX= 2,-0.08, 0.426, 0.436,-1.108, 0.458, PHS= 0.070, 0.023,-1.611, RAW= 31.4, 17.9, CAL= 28.6, 20.8, ROT= 121.4, -20.8 2025-10-27T04:03:40.148Z,1761537820.148 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T04:03:40.149Z,1761537820.149 [DAT](INFO): direction in FSK: [-0.487053,0.797921,0.355107] 2025-10-27T04:03:40.149Z,1761537820.149 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:40.157Z,1761537820.157 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.478920 2025-10-27T04:03:40.304Z,1761537820.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920237,-0.373177,-0.117911],[0.375976,-0.926628,-0.001620],[-0.108655,-0.045822,0.993023]] 2025-10-27T04:03:40.347Z,1761537820.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.506744 s, deltaX: 0.200001 m, approachRate: 0.394678 m/s, rangeRepo size: 4 2025-10-27T04:03:40.349Z,1761537820.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.756588 m, bearing: 276.708067 deg, lat: 36.779370 deg, lon: -121.859527 deg, deltaT: 1.007643 s, deltaX: 0.199020 m, approachRate: 0.197511 m/s, posRepo size: 4 2025-10-27T04:03:40.350Z,1761537820.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:40.376Z,1761537820.376 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.697929 2025-10-27T04:03:40.629Z,1761537820.629 [DAT](INFO): DAT read: Rx Time:04:03:39.4498 2025-10-27T04:03:40.629Z,1761537820.629 [DAT](INFO): Rx dataTimestamp_ set to:1761537820.628716 2025-10-27T04:03:40.630Z,1761537820.630 [DAT](INFO): DAT read: Bearing 88.3, 54.9 (Local) 2025-10-27T04:03:40.631Z,1761537820.631 [DAT](INFO): Local bearing/azimuth received: Bearing 88.3, 54.9 (Local) 2025-10-27T04:03:40.633Z,1761537820.633 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0 2025-10-27T04:03:40.637Z,1761537820.637 [DAT](INFO): DAT read: 04:03:39.4498 LVL= 18304, 15649, 24178, 28099, AGC= 51, IDX= 497, 0.03, 0.811, 0.882,-0.710, 0.870, PHS= 0.044, 0.057,-1.624, RAW= 29.6, 17.8, CAL= 27.0, 20.8, ROT= 123.0, -20.8 2025-10-27T04:03:40.638Z,1761537820.638 [DAT](INFO): got valid direction response: 04:03:39.4498 LVL= 18304, 15649, 24178, 28099, AGC= 51, IDX= 497, 0.03, 0.811, 0.882,-0.710, 0.870, PHS= 0.044, 0.057,-1.624, RAW= 29.6, 17.8, CAL= 27.0, 20.8, ROT= 123.0, -20.8 2025-10-27T04:03:40.642Z,1761537820.642 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T04:03:40.643Z,1761537820.643 [DAT](INFO): direction in FSK: [-0.509143,0.784011,0.355107] 2025-10-27T04:03:40.643Z,1761537820.643 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:40.646Z,1761537820.646 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:03:40.646Z,1761537820.646 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:03:40.647Z,1761537820.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:40.803Z,1761537820.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.500383 s, deltaX: -0.200001 m, approachRate: -0.399695 m/s, rangeRepo size: 4 2025-10-27T04:03:40.805Z,1761537820.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.557457 m, bearing: 278.305710 deg, lat: 36.779373 deg, lon: -121.859530 deg, deltaT: 0.500383 s, deltaX: -0.199131 m, approachRate: -0.397957 m/s, posRepo size: 4 2025-10-27T04:03:40.805Z,1761537820.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m. 2025-10-27T04:03:40.880Z,1761537820.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:41.136Z,1761537821.136 [DAT](INFO): DAT read: Rx Time:04:03:39.9499 2025-10-27T04:03:41.137Z,1761537821.137 [DAT](INFO): Rx dataTimestamp_ set to:1761537821.136408 2025-10-27T04:03:41.138Z,1761537821.138 [DAT](INFO): DAT read: Bearing 88.6, 53.6 (Local) 2025-10-27T04:03:41.138Z,1761537821.138 [DAT](INFO): Local bearing/azimuth received: Bearing 88.6, 53.6 (Local) 2025-10-27T04:03:41.141Z,1761537821.141 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.0 2025-10-27T04:03:41.146Z,1761537821.146 [DAT](INFO): DAT read: 04:03:39.9499 LVL= 17792, 14769, 23170, 22643, AGC= 55, IDX= 2, 0.07, 2.254, 2.378, 0.769, 2.348, PHS= 0.008, 0.075,-1.623, RAW= 28.0, 18.1, CAL= 25.6, 21.2, ROT= 124.4, -21.2 2025-10-27T04:03:41.168Z,1761537821.168 [DAT](INFO): got valid direction response: 04:03:39.9499 LVL= 17792, 14769, 23170, 22643, AGC= 55, IDX= 2, 0.07, 2.254, 2.378, 0.769, 2.348, PHS= 0.008, 0.075,-1.623, RAW= 28.0, 18.1, CAL= 25.6, 21.2, ROT= 124.4, -21.2 2025-10-27T04:03:41.168Z,1761537821.168 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:41.169Z,1761537821.169 [DAT](INFO): direction in FSK: [-0.526732,0.769273,0.361625] 2025-10-27T04:03:41.169Z,1761537821.169 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:41.185Z,1761537821.185 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:41.185Z,1761537821.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:41.192Z,1761537821.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914178,-0.388371,-0.115962],[0.390971,-0.920403,0.000351],[-0.106868,-0.045017,0.993254]] 2025-10-27T04:03:41.260Z,1761537821.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.507692 s, deltaX: 0.200001 m, approachRate: 0.393941 m/s, rangeRepo size: 4 2025-10-27T04:03:41.262Z,1761537821.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.756649 m, bearing: 278.760609 deg, lat: 36.779378 deg, lon: -121.859530 deg, deltaT: 0.507692 s, deltaX: 0.199192 m, approachRate: 0.392348 m/s, posRepo size: 4 2025-10-27T04:03:41.267Z,1761537821.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:41.384Z,1761537821.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:41.637Z,1761537821.637 [DAT](INFO): DAT read: Rx Time:04:03:40.4498 2025-10-27T04:03:41.637Z,1761537821.637 [DAT](INFO): Rx dataTimestamp_ set to:1761537821.636760 2025-10-27T04:03:41.638Z,1761537821.638 [DAT](INFO): DAT read: Bearing 89.6, 51.8 (Local) 2025-10-27T04:03:41.639Z,1761537821.639 [DAT](INFO): Local bearing/azimuth received: Bearing 89.6, 51.8 (Local) 2025-10-27T04:03:41.641Z,1761537821.641 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0 2025-10-27T04:03:41.646Z,1761537821.646 [DAT](INFO): DAT read: 04:03:40.4498 LVL= 17648, 15505, 24658, 29155, AGC= 50, IDX= 497, 0.09, 1.180, 1.379,-0.247, 1.319, PHS=-0.037, 0.105,-1.610, RAW= 25.7, 18.3, CAL= 23.6, 21.6, ROT= 126.4, -21.6 2025-10-27T04:03:41.647Z,1761537821.647 [DAT](INFO): got valid direction response: 04:03:40.4498 LVL= 17648, 15505, 24658, 29155, AGC= 50, IDX= 497, 0.09, 1.180, 1.379,-0.247, 1.319, PHS=-0.037, 0.105,-1.610, RAW= 25.7, 18.3, CAL= 23.6, 21.6, ROT= 126.4, -21.6 2025-10-27T04:03:41.648Z,1761537821.648 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:41.649Z,1761537821.649 [DAT](INFO): direction in FSK: [-0.551747,0.748371,0.368125] 2025-10-27T04:03:41.649Z,1761537821.649 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:41.653Z,1761537821.653 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:41.653Z,1761537821.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:41.662Z,1761537821.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910976,-0.396081,-0.115074],[0.398589,-0.917129,0.001318],[-0.106060,-0.044666,0.993356]] 2025-10-27T04:03:41.758Z,1761537821.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.500352 s, deltaX: -0.200001 m, approachRate: -0.399720 m/s, rangeRepo size: 4 2025-10-27T04:03:41.766Z,1761537821.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.557518 m, bearing: 280.253582 deg, lat: 36.779385 deg, lon: -121.859530 deg, deltaT: 0.500352 s, deltaX: -0.199131 m, approachRate: -0.397982 m/s, posRepo size: 4 2025-10-27T04:03:41.779Z,1761537821.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m. 2025-10-27T04:03:41.888Z,1761537821.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:42.041Z,1761537822.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907837,-0.403378,-0.114535],[0.405866,-0.913931,0.001749],[-0.105383,-0.044899,0.993418]] 2025-10-27T04:03:42.141Z,1761537822.141 [DAT](INFO): DAT read: Rx Time:04:03:40.9498 2025-10-27T04:03:42.141Z,1761537822.141 [DAT](INFO): Rx dataTimestamp_ set to:1761537822.140766 2025-10-27T04:03:42.142Z,1761537822.142 [DAT](INFO): DAT read: Bearing 97.8, 50.4 (Local) 2025-10-27T04:03:42.143Z,1761537822.143 [DAT](INFO): Local bearing/azimuth received: Bearing 97.8, 50.4 (Local) 2025-10-27T04:03:42.145Z,1761537822.145 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0 2025-10-27T04:03:42.150Z,1761537822.150 [DAT](INFO): DAT read: 04:03:40.9498 LVL= 20192, 16817, 27362, 28723, AGC= 51, IDX= 513, 0.04, 0.051, 0.485,-1.597, 0.189, PHS=-0.036, 0.341,-1.830, RAW= 20.6, 15.0, CAL= 19.4, 17.7, ROT= 130.6, -17.7 2025-10-27T04:03:42.151Z,1761537822.151 [DAT](INFO): got valid direction response: 04:03:40.9498 LVL= 20192, 16817, 27362, 28723, AGC= 51, IDX= 513, 0.04, 0.051, 0.485,-1.597, 0.189, PHS=-0.036, 0.341,-1.830, RAW= 20.6, 15.0, CAL= 19.4, 17.7, ROT= 130.6, -17.7 2025-10-27T04:03:42.151Z,1761537822.151 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:42.152Z,1761537822.152 [DAT](INFO): direction in FSK: [-0.619968,0.723328,0.304033] 2025-10-27T04:03:42.152Z,1761537822.152 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:42.156Z,1761537822.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:42.156Z,1761537822.156 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:42.184Z,1761537822.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:42.186Z,1761537822.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.557602 m, bearing: 284.519426 deg, lat: 36.779388 deg, lon: -121.859530 deg, deltaT: 0.504006 s, deltaX: 0.000084 m, approachRate: 0.000167 m/s, posRepo size: 4 2025-10-27T04:03:42.186Z,1761537822.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m. 2025-10-27T04:03:42.392Z,1761537822.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:42.467Z,1761537822.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904618,-0.410692,-0.114011],[0.413164,-0.910654,0.002127],[-0.104698,-0.045181,0.993477]] 2025-10-27T04:03:42.486Z,1761537822.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m. 2025-10-27T04:03:42.645Z,1761537822.645 [DAT](INFO): DAT read: Rx Time:04:03:41.4497 2025-10-27T04:03:42.645Z,1761537822.645 [DAT](INFO): Rx dataTimestamp_ set to:1761537822.644838 2025-10-27T04:03:42.647Z,1761537822.647 [DAT](INFO): DAT read: Bearing 91.8, 46.3 (Local) 2025-10-27T04:03:42.648Z,1761537822.648 [DAT](INFO): Local bearing/azimuth received: Bearing 91.8, 46.3 (Local) 2025-10-27T04:03:42.650Z,1761537822.650 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.0 2025-10-27T04:03:42.656Z,1761537822.656 [DAT](INFO): DAT read: 04:03:41.4497 LVL= 18240, 16705, 25330, 28227, AGC= 51, IDX= 512, 0.00,-1.966,-1.545, 3.028,-1.687, PHS=-0.178, 0.186,-1.613, RAW= 19.0, 19.0, CAL= 17.7, 22.8, ROT= 132.3, -22.8 2025-10-27T04:03:42.657Z,1761537822.657 [DAT](INFO): got valid direction response: 04:03:41.4497 LVL= 18240, 16705, 25330, 28227, AGC= 51, IDX= 512, 0.00,-1.966,-1.545, 3.028,-1.687, PHS=-0.178, 0.186,-1.613, RAW= 19.0, 19.0, CAL= 17.7, 22.8, ROT= 132.3, -22.8 2025-10-27T04:03:42.657Z,1761537822.657 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:42.658Z,1761537822.658 [DAT](INFO): direction in FSK: [-0.620425,0.681839,0.387516] 2025-10-27T04:03:42.659Z,1761537822.659 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:42.670Z,1761537822.670 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:42.670Z,1761537822.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:42.865Z,1761537822.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901373,-0.417874,-0.113618],[0.420358,-0.907355,0.002296],[-0.104051,-0.045691,0.993522]] 2025-10-27T04:03:42.896Z,1761537822.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:42.960Z,1761537822.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.504072 s, deltaX: -0.100002 m, approachRate: -0.198389 m/s, rangeRepo size: 4 2025-10-27T04:03:42.962Z,1761537822.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.458038 m, bearing: 284.687306 deg, lat: 36.779394 deg, lon: -121.859527 deg, deltaT: 0.504072 s, deltaX: -0.099564 m, approachRate: -0.197519 m/s, posRepo size: 4 2025-10-27T04:03:42.962Z,1761537822.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.46 m. 2025-10-27T04:03:43.149Z,1761537823.149 [DAT](INFO): DAT read: Rx Time:04:03:41.9498 2025-10-27T04:03:43.149Z,1761537823.149 [DAT](INFO): Rx dataTimestamp_ set to:1761537823.148768 2025-10-27T04:03:43.150Z,1761537823.150 [DAT](INFO): DAT read: Bearing 96.7, 47.9 (Local) 2025-10-27T04:03:43.151Z,1761537823.151 [DAT](INFO): Local bearing/azimuth received: Bearing 96.7, 47.9 (Local) 2025-10-27T04:03:43.153Z,1761537823.153 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0 2025-10-27T04:03:43.159Z,1761537823.159 [DAT](INFO): DAT read: 04:03:41.9498 LVL= 22768, 16689, 28002, 29811, AGC= 50, IDX= 513, 0.01,-1.140,-0.644,-2.636,-0.936, PHS=-0.102, 0.338,-1.743, RAW= 18.4, 15.7, CAL= 17.4, 18.7, ROT= 132.6, -18.7 2025-10-27T04:03:43.161Z,1761537823.161 [DAT](INFO): got valid direction response: 04:03:41.9498 LVL= 22768, 16689, 28002, 29811, AGC= 50, IDX= 513, 0.01,-1.140,-0.644,-2.636,-0.936, PHS=-0.102, 0.338,-1.743, RAW= 18.4, 15.7, CAL= 17.4, 18.7, ROT= 132.6, -18.7 2025-10-27T04:03:43.161Z,1761537823.161 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:43.162Z,1761537823.162 [DAT](INFO): direction in FSK: [-0.641144,0.697239,0.320613] 2025-10-27T04:03:43.162Z,1761537823.162 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:43.189Z,1761537823.189 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:43.189Z,1761537823.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:43.380Z,1761537823.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895202,-0.431233,-0.112480],[0.433666,-0.901068,0.003131],[-0.102702,-0.045976,0.993649]] 2025-10-27T04:03:43.400Z,1761537823.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:43.414Z,1761537823.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.503930 s, deltaX: 0.100002 m, approachRate: 0.198445 m/s, rangeRepo size: 4 2025-10-27T04:03:43.416Z,1761537823.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.557480 m, bearing: 284.683263 deg, lat: 36.779413 deg, lon: -121.859525 deg, deltaT: 0.503930 s, deltaX: 0.099442 m, approachRate: 0.197332 m/s, posRepo size: 4 2025-10-27T04:03:43.417Z,1761537823.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m. 2025-10-27T04:03:43.653Z,1761537823.653 [DAT](INFO): DAT read: Rx Time:04:03:42.4497 2025-10-27T04:03:43.653Z,1761537823.653 [DAT](INFO): Rx dataTimestamp_ set to:1761537823.652783 2025-10-27T04:03:43.654Z,1761537823.654 [DAT](INFO): DAT read: Bearing 98.5, 48.0 (Local) 2025-10-27T04:03:43.655Z,1761537823.655 [DAT](INFO): Local bearing/azimuth received: Bearing 98.5, 48.0 (Local) 2025-10-27T04:03:43.658Z,1761537823.658 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.0 2025-10-27T04:03:43.665Z,1761537823.665 [DAT](INFO): DAT read: 04:03:42.4497 LVL= 21664, 17985, 30066, 31171, AGC= 51, IDX= 512, 0.07,-2.566,-2.073, 2.345,-2.388, PHS=-0.076, 0.360,-1.595, RAW= 17.7, 14.6, CAL= 16.8, 17.3, ROT= 133.2, -17.3 2025-10-27T04:03:43.667Z,1761537823.667 [DAT](INFO): got valid direction response: 04:03:42.4497 LVL= 21664, 17985, 30066, 31171, AGC= 51, IDX= 512, 0.07,-2.566,-2.073, 2.345,-2.388, PHS=-0.076, 0.360,-1.595, RAW= 17.7, 14.6, CAL= 16.8, 17.3, ROT= 133.2, -17.3 2025-10-27T04:03:43.667Z,1761537823.667 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:43.668Z,1761537823.668 [DAT](INFO): direction in FSK: [-0.653579,0.695991,0.297375] 2025-10-27T04:03:43.669Z,1761537823.669 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:43.672Z,1761537823.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:43.672Z,1761537823.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:43.782Z,1761537823.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892072,-0.437875,-0.111682],[0.440206,-0.897887,0.004187],[-0.102111,-0.045428,0.993735]] 2025-10-27T04:03:43.887Z,1761537823.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.504015 s, deltaX: -0.100002 m, approachRate: -0.198411 m/s, rangeRepo size: 4 2025-10-27T04:03:43.889Z,1761537823.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.457912 m, bearing: 285.050765 deg, lat: 36.779415 deg, lon: -121.859524 deg, deltaT: 0.504015 s, deltaX: -0.099567 m, approachRate: -0.197549 m/s, posRepo size: 4 2025-10-27T04:03:43.890Z,1761537823.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.46 m. 2025-10-27T04:03:43.904Z,1761537823.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:44.157Z,1761537824.157 [DAT](INFO): DAT read: Rx Time:04:03:42.9498 2025-10-27T04:03:44.157Z,1761537824.157 [DAT](INFO): Rx dataTimestamp_ set to:1761537824.156732 2025-10-27T04:03:44.158Z,1761537824.158 [DAT](INFO): DAT read: Bearing 100.2, 50.7 (Local) 2025-10-27T04:03:44.159Z,1761537824.159 [DAT](INFO): Local bearing/azimuth received: Bearing 100.2, 50.7 (Local) 2025-10-27T04:03:44.161Z,1761537824.161 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.0 2025-10-27T04:03:44.166Z,1761537824.166 [DAT](INFO): DAT read: 04:03:42.9498 LVL= 20112, 17713, 27458, 30163, AGC= 52, IDX= 513, 0.23,-1.023,-0.601,-2.438,-0.937, PHS= 0.015, 0.380,-1.545, RAW= 19.7, 12.9, CAL= 18.8, 14.9, ROT= 131.2, -14.9 2025-10-27T04:03:44.167Z,1761537824.167 [DAT](INFO): got valid direction response: 04:03:42.9498 LVL= 20112, 17713, 27458, 30163, AGC= 52, IDX= 513, 0.23,-1.023,-0.601,-2.438,-0.937, PHS= 0.015, 0.380,-1.545, RAW= 19.7, 12.9, CAL= 18.8, 14.9, ROT= 131.2, -14.9 2025-10-27T04:03:44.167Z,1761537824.167 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:44.168Z,1761537824.168 [DAT](INFO): direction in FSK: [-0.636542,0.727116,0.257133] 2025-10-27T04:03:44.168Z,1761537824.168 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:44.172Z,1761537824.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:44.172Z,1761537824.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:44.371Z,1761537824.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.503949 s, deltaX: 0.100002 m, approachRate: 0.198437 m/s, rangeRepo size: 4 2025-10-27T04:03:44.373Z,1761537824.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.557156 m, bearing: 283.324574 deg, lat: 36.779415 deg, lon: -121.859524 deg, deltaT: 0.503949 s, deltaX: 0.099243 m, approachRate: 0.196931 m/s, posRepo size: 4 2025-10-27T04:03:44.374Z,1761537824.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m. 2025-10-27T04:03:44.408Z,1761537824.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:44.661Z,1761537824.661 [DAT](INFO): DAT read: Rx Time:04:03:43.4498 2025-10-27T04:03:44.661Z,1761537824.661 [DAT](INFO): Rx dataTimestamp_ set to:1761537824.660785 2025-10-27T04:03:44.662Z,1761537824.662 [DAT](INFO): DAT read: Bearing 88.7, 46.9 (Local) 2025-10-27T04:03:44.663Z,1761537824.663 [DAT](INFO): Local bearing/azimuth received: Bearing 88.7, 46.9 (Local) 2025-10-27T04:03:44.665Z,1761537824.665 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed -0.1 2025-10-27T04:03:44.670Z,1761537824.670 [DAT](INFO): DAT read: 04:03:43.4498 LVL= 18800, 16705, 24882, 27635, AGC= 51, IDX= 513,-0.33, 1.828, 2.224, 0.395, 2.105, PHS=-0.175, 0.164,-1.753, RAW= 20.5, 19.4, CAL= 19.0, 23.2, ROT= 131.0, -23.2 2025-10-27T04:03:44.671Z,1761537824.671 [DAT](INFO): got valid direction response: 04:03:43.4498 LVL= 18800, 16705, 24882, 27635, AGC= 51, IDX= 513,-0.33, 1.828, 2.224, 0.395, 2.105, PHS=-0.175, 0.164,-1.753, RAW= 20.5, 19.4, CAL= 19.0, 23.2, ROT= 131.0, -23.2 2025-10-27T04:03:44.671Z,1761537824.671 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:44.672Z,1761537824.672 [DAT](INFO): direction in FSK: [-0.603007,0.693680,0.393942] 2025-10-27T04:03:44.672Z,1761537824.672 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:44.684Z,1761537824.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:44.684Z,1761537824.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:44.738Z,1761537824.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886455,-0.449573,-0.109922],[0.451702,-0.892148,0.006110],[-0.100813,-0.044236,0.993922]] 2025-10-27T04:03:44.842Z,1761537824.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.504053 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:44.849Z,1761537824.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.557156 m, bearing: 281.409592 deg, lat: 36.779413 deg, lon: -121.859523 deg, deltaT: 0.504053 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:44.849Z,1761537824.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m. 2025-10-27T04:03:44.912Z,1761537824.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:45.165Z,1761537825.165 [DAT](INFO): DAT read: Rx Time:04:03:43.9499 2025-10-27T04:03:45.165Z,1761537825.165 [DAT](INFO): Rx dataTimestamp_ set to:1761537825.164732 2025-10-27T04:03:45.166Z,1761537825.166 [DAT](INFO): DAT read: Bearing 90.8, 48.3 (Local) 2025-10-27T04:03:45.167Z,1761537825.167 [DAT](INFO): Local bearing/azimuth received: Bearing 90.8, 48.3 (Local) 2025-10-27T04:03:45.169Z,1761537825.169 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed -0.1 2025-10-27T04:03:45.173Z,1761537825.173 [DAT](INFO): DAT read: 04:03:43.9499 LVL= 21360, 16881, 25474, 28147, AGC= 56, IDX= 2, 0.07,-0.860,-0.492,-2.224,-0.653, PHS=-0.105, 0.206,-1.615, RAW= 20.8, 17.6, CAL= 19.3, 21.1, ROT= 130.7, -21.1 2025-10-27T04:03:45.174Z,1761537825.174 [DAT](INFO): got valid direction response: 04:03:43.9499 LVL= 21360, 16881, 25474, 28147, AGC= 56, IDX= 2, 0.07,-0.860,-0.492,-2.224,-0.653, PHS=-0.105, 0.206,-1.615, RAW= 20.8, 17.6, CAL= 19.3, 21.1, ROT= 130.7, -21.1 2025-10-27T04:03:45.175Z,1761537825.175 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:45.176Z,1761537825.176 [DAT](INFO): direction in FSK: [-0.608378,0.707304,0.359997] 2025-10-27T04:03:45.176Z,1761537825.176 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:45.180Z,1761537825.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:45.180Z,1761537825.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:45.277Z,1761537825.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883787,-0.454993,-0.109099],[0.457070,-0.889406,0.006609],[-0.100040,-0.044025,0.994009]] 2025-10-27T04:03:45.342Z,1761537825.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.503947 s, deltaX: 0.200001 m, approachRate: 0.396869 m/s, rangeRepo size: 4 2025-10-27T04:03:45.348Z,1761537825.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.756218 m, bearing: 281.043456 deg, lat: 36.779411 deg, lon: -121.859523 deg, deltaT: 0.503947 s, deltaX: 0.199062 m, approachRate: 0.395007 m/s, posRepo size: 4 2025-10-27T04:03:45.348Z,1761537825.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:45.416Z,1761537825.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:45.669Z,1761537825.669 [DAT](INFO): DAT read: Rx Time:04:03:44.4499 2025-10-27T04:03:45.669Z,1761537825.669 [DAT](INFO): Rx dataTimestamp_ set to:1761537825.668738 2025-10-27T04:03:45.670Z,1761537825.670 [DAT](INFO): DAT read: Bearing 90.7, 47.7 (Local) 2025-10-27T04:03:45.671Z,1761537825.671 [DAT](INFO): Local bearing/azimuth received: Bearing 90.7, 47.7 (Local) 2025-10-27T04:03:45.673Z,1761537825.673 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed -0.2 2025-10-27T04:03:45.677Z,1761537825.677 [DAT](INFO): DAT read: 04:03:44.4499 LVL= 19280, 19921, 29826, 32755, AGC= 50, IDX= 498,-0.21, 2.375, 2.767, 1.028, 2.598, PHS=-0.121, 0.214,-1.614, RAW= 20.1, 17.7, CAL= 18.7, 21.2, ROT= 131.3, -21.2 2025-10-27T04:03:45.679Z,1761537825.679 [DAT](INFO): got valid direction response: 04:03:44.4499 LVL= 19280, 19921, 29826, 32755, AGC= 50, IDX= 498,-0.21, 2.375, 2.767, 1.028, 2.598, PHS=-0.121, 0.214,-1.614, RAW= 20.1, 17.7, CAL= 18.7, 21.2, ROT= 131.3, -21.2 2025-10-27T04:03:45.679Z,1761537825.679 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:45.680Z,1761537825.680 [DAT](INFO): direction in FSK: [-0.615335,0.700421,0.361625] 2025-10-27T04:03:45.680Z,1761537825.680 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:45.686Z,1761537825.686 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:45.686Z,1761537825.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:45.822Z,1761537825.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:03:45.829Z,1761537825.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.756218 m, bearing: 281.634642 deg, lat: 36.779400 deg, lon: -121.859523 deg, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:03:45.829Z,1761537825.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:45.921Z,1761537825.921 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:46.150Z,1761537826.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876348,-0.469649,-0.106975],[0.471709,-0.881729,0.006744],[-0.097491,-0.044551,0.994239]] 2025-10-27T04:03:46.173Z,1761537826.173 [DAT](INFO): DAT read: Rx Time:04:03:44.9500 2025-10-27T04:03:46.173Z,1761537826.173 [DAT](INFO): Rx dataTimestamp_ set to:1761537826.172791 2025-10-27T04:03:46.174Z,1761537826.174 [DAT](INFO): DAT read: Bearing 91.5, 47.8 (Local) 2025-10-27T04:03:46.175Z,1761537826.175 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, 47.8 (Local) 2025-10-27T04:03:46.177Z,1761537826.177 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed -0.2 2025-10-27T04:03:46.181Z,1761537826.181 [DAT](INFO): DAT read: 04:03:44.9500 LVL= 21712, 16657, 28722, 32755, AGC= 52, IDX= 498, 0.49,-2.897,-2.494, 2.037,-2.690, PHS=-0.105, 0.241,-1.600, RAW= 19.8, 17.0, CAL= 18.5, 20.4, ROT= 131.5, -20.4 2025-10-27T04:03:46.183Z,1761537826.183 [DAT](INFO): got valid direction response: 04:03:44.9500 LVL= 21712, 16657, 28722, 32755, AGC= 52, IDX= 498, 0.49,-2.897,-2.494, 2.037,-2.690, PHS=-0.105, 0.241,-1.600, RAW= 19.8, 17.0, CAL= 18.5, 20.4, ROT= 131.5, -20.4 2025-10-27T04:03:46.183Z,1761537826.183 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:46.184Z,1761537826.184 [DAT](INFO): direction in FSK: [-0.621062,0.701983,0.348572] 2025-10-27T04:03:46.184Z,1761537826.184 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:46.192Z,1761537826.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:46.192Z,1761537826.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:46.213Z,1761537826.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504053 s, deltaX: 0.099998 m, approachRate: 0.198389 m/s, rangeRepo size: 4 2025-10-27T04:03:46.223Z,1761537826.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.855793 m, bearing: 281.029779 deg, lat: 36.779398 deg, lon: -121.859523 deg, deltaT: 0.504053 s, deltaX: 0.099575 m, approachRate: 0.197549 m/s, posRepo size: 4 2025-10-27T04:03:46.224Z,1761537826.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.86 m. 2025-10-27T04:03:46.424Z,1761537826.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:46.680Z,1761537826.680 [DAT](INFO): DAT read: Rx Time:04:03:45.4499 2025-10-27T04:03:46.682Z,1761537826.682 [DAT](INFO): Rx dataTimestamp_ set to:1761537826.680888 2025-10-27T04:03:46.686Z,1761537826.686 [DAT](INFO): DAT read: Bearing 92.0, 48.1 (Local) 2025-10-27T04:03:46.687Z,1761537826.687 [DAT](INFO): Local bearing/azimuth received: Bearing 92.0, 48.1 (Local) 2025-10-27T04:03:46.689Z,1761537826.689 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed -0.2 2025-10-27T04:03:46.720Z,1761537826.720 [DAT](INFO): DAT read: 04:03:45.4499 LVL= 22560, 18721, 29938, 31731, AGC= 53, IDX= 498, 0.28, 2.411, 2.818, 1.048, 2.602, PHS=-0.089, 0.261,-1.598, RAW= 19.8, 16.4, CAL= 18.5, 19.7, ROT= 131.5, -19.7 2025-10-27T04:03:46.722Z,1761537826.722 [DAT](INFO): got valid direction response: 04:03:45.4499 LVL= 22560, 18721, 29938, 31731, AGC= 53, IDX= 498, 0.28, 2.411, 2.818, 1.048, 2.602, PHS=-0.089, 0.261,-1.598, RAW= 19.8, 16.4, CAL= 18.5, 19.7, ROT= 131.5, -19.7 2025-10-27T04:03:46.722Z,1761537826.722 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:46.732Z,1761537826.732 [DAT](INFO): direction in FSK: [-0.623837,0.705120,0.337095] 2025-10-27T04:03:46.732Z,1761537826.732 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:46.748Z,1761537826.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874132,-0.473974,-0.106026],[0.476010,-0.879413,0.006824],[-0.096475,-0.044504,0.994340]] 2025-10-27T04:03:46.752Z,1761537826.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:46.752Z,1761537826.752 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:03:46.856Z,1761537826.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.508097 s, deltaX: -0.099998 m, approachRate: -0.196810 m/s, rangeRepo size: 4 2025-10-27T04:03:46.858Z,1761537826.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.756229 m, bearing: 280.852590 deg, lat: 36.779398 deg, lon: -121.859523 deg, deltaT: 0.508097 s, deltaX: -0.099564 m, approachRate: -0.195954 m/s, posRepo size: 4 2025-10-27T04:03:46.858Z,1761537826.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:46.928Z,1761537826.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:03:47.180Z,1761537827.180 [DAT](INFO): DAT read: user:46> 2025-10-27T04:03:47.180Z,1761537827.180 [DAT](INFO): DAT read: 50 2025-10-27T04:03:47.181Z,1761537827.181 [DAT](INFO): unknown deviceResponse_: 50 2025-10-27T04:03:47.181Z,1761537827.181 [DAT](INFO): DAT read: Ok 2025-10-27T04:03:47.181Z,1761537827.181 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T04:03:47.182Z,1761537827.182 [DAT](INFO): DAT read: user:47> 2025-10-27T04:03:47.182Z,1761537827.182 [DAT](INFO): DAT read: Tx time:04:03:46.3811 2025-10-27T04:03:47.183Z,1761537827.183 [DAT](INFO): Ping request sent. 2025-10-27T04:03:47.183Z,1761537827.183 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:03:47.183Z,1761537827.183 [DAT](INFO): publishing transmit ping time 2025-10-27T04:03:47.184Z,1761537827.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T04:03:47.256Z,1761537827.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871941,-0.478230,-0.104947],[0.480221,-0.877119,0.007050],[-0.095422,-0.044250,0.994453]] 2025-10-27T04:03:47.348Z,1761537827.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:47.432Z,1761537827.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248889 2025-10-27T04:03:47.687Z,1761537827.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503473 2025-10-27T04:03:47.728Z,1761537827.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869715,-0.482526,-0.103749],[0.484443,-0.874790,0.007530],[-0.094392,-0.043712,0.994575]] 2025-10-27T04:03:47.789Z,1761537827.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:47.939Z,1761537827.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755755 2025-10-27T04:03:48.177Z,1761537828.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865383,-0.490781,-0.101222],[0.492585,-0.870227,0.008067],[-0.092045,-0.042879,0.994831]] 2025-10-27T04:03:48.188Z,1761537828.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004912 2025-10-27T04:03:48.219Z,1761537828.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:48.441Z,1761537828.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257968 2025-10-27T04:03:48.597Z,1761537828.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863094,-0.495014,-0.100146],[0.496794,-0.867831,0.008074],[-0.090907,-0.042783,0.994940]] 2025-10-27T04:03:48.627Z,1761537828.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:48.697Z,1761537828.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512866 2025-10-27T04:03:48.945Z,1761537828.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762431 2025-10-27T04:03:49.010Z,1761537829.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860775,-0.499194,-0.099362],[0.500986,-0.865420,0.007811],[-0.089889,-0.043056,0.995021]] 2025-10-27T04:03:49.058Z,1761537829.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:49.196Z,1761537829.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012832 2025-10-27T04:03:49.448Z,1761537829.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265029 2025-10-27T04:03:49.459Z,1761537829.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:49.705Z,1761537829.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521309 2025-10-27T04:03:49.820Z,1761537829.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856020,-0.507609,-0.097792],[0.509417,-0.860488,0.007365],[-0.087887,-0.043513,0.995180]] 2025-10-27T04:03:49.872Z,1761537829.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:49.952Z,1761537829.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768782 2025-10-27T04:03:50.204Z,1761537830.204 [DAT](INFO): DAT read: Rx Time:04:03:48.8305 2025-10-27T04:03:50.204Z,1761537830.204 [DAT](INFO): Rx dataTimestamp_ set to:1761537830.204111 2025-10-27T04:03:50.205Z,1761537830.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021908 2025-10-27T04:03:50.275Z,1761537830.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853267,-0.512350,-0.097124],[0.514129,-0.857679,0.007642],[-0.087217,-0.043413,0.995243]] 2025-10-27T04:03:50.293Z,1761537830.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.76 m. 2025-10-27T04:03:50.456Z,1761537830.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273048 2025-10-27T04:03:50.741Z,1761537830.741 [DAT](INFO): DAT read: 04:03:48.8305 LVL= 29536, 19489, 30946, 32755, AGC= 56, IDX= 268,-0.18, 1.621, 2.182, 0.392, 1.894, PHS=-0.171, 0.332,-1.546, RAW= 15.0, 16.2, CAL= 14.3, 19.7, ROT= 135.7, -19.7 2025-10-27T04:03:50.752Z,1761537830.752 [DAT](INFO): got valid direction response: 04:03:48.8305 LVL= 29536, 19489, 30946, 32755, AGC= 56, IDX= 268,-0.18, 1.621, 2.182, 0.392, 1.894, PHS=-0.171, 0.332,-1.546, RAW= 15.0, 16.2, CAL= 14.3, 19.7, ROT= 135.7, -19.7 2025-10-27T04:03:50.753Z,1761537830.753 [DAT](INFO): DAT read: Bearing 92.1, 44.7 (Local) 2025-10-27T04:03:50.753Z,1761537830.753 [DAT](INFO): Local bearing/azimuth received: Bearing 92.1, 44.7 (Local) 2025-10-27T04:03:50.754Z,1761537830.754 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (Round-trip 45.3 ms) speed -0.3 m/s 2025-10-27T04:03:50.758Z,1761537830.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850513,-0.517026,-0.096498],[0.518783,-0.854870,0.007859],[-0.086556,-0.043378,0.995302]] 2025-10-27T04:03:50.775Z,1761537830.775 [DAT](INFO): DAT read: user:48> 2025-10-27T04:03:50.776Z,1761537830.776 [DAT](INFO): DAT read: Tx time:04:03:49.9311 2025-10-27T04:03:50.776Z,1761537830.776 [DAT](INFO): Ping request sent. 2025-10-27T04:03:50.776Z,1761537830.776 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:03:50.777Z,1761537830.777 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:03:50.778Z,1761537830.778 [DAT](INFO): direction in FSK: [-0.673804,0.657537,0.337095] 2025-10-27T04:03:50.778Z,1761537830.778 [DAT](INFO): publishing transmit ping time 2025-10-27T04:03:50.778Z,1761537830.778 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:50.794Z,1761537830.794 [DAT](INFO): publishing transmit ping time 2025-10-27T04:03:50.794Z,1761537830.794 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:50.883Z,1761537830.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 4.028076 s, deltaX: 1.000000 m, approachRate: 0.248257 m/s, rangeRepo size: 4 2025-10-27T04:03:50.885Z,1761537830.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.751873 m, bearing: 282.443591 deg, lat: 36.779398 deg, lon: -121.859523 deg, deltaT: 4.028076 s, deltaX: 0.995644 m, approachRate: 0.247176 m/s, posRepo size: 4 2025-10-27T04:03:50.886Z,1761537830.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.75 m. 2025-10-27T04:03:51.136Z,1761537831.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847719,-0.521682,-0.096026],[0.523425,-0.852033,0.008054],[-0.086019,-0.043435,0.995346]] 2025-10-27T04:03:51.183Z,1761537831.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.75 m. 2025-10-27T04:03:51.539Z,1761537831.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844770,-0.526514,-0.095641],[0.528237,-0.849056,0.008376],[-0.085615,-0.043446,0.995381]] 2025-10-27T04:03:51.557Z,1761537831.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.75 m. 2025-10-27T04:03:52.021Z,1761537832.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.75 m. 2025-10-27T04:03:52.345Z,1761537832.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838318,-0.536762,-0.095441],[0.538479,-0.842592,0.008956],[-0.085225,-0.043885,0.995395]] 2025-10-27T04:03:52.384Z,1761537832.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.75 m. 2025-10-27T04:03:52.778Z,1761537832.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834820,-0.542161,-0.095588],[0.543877,-0.839113,0.009358],[-0.085283,-0.044176,0.995377]] 2025-10-27T04:03:52.820Z,1761537832.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.75 m. 2025-10-27T04:03:53.157Z,1761537833.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831392,-0.547371,-0.095777],[0.549092,-0.835706,0.009712],[-0.085357,-0.044516,0.995355]] 2025-10-27T04:03:53.196Z,1761537833.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.75 m. 2025-10-27T04:03:53.558Z,1761537833.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828237,-0.552128,-0.095807],[0.553850,-0.832556,0.010010],[-0.085292,-0.044773,0.995350]] 2025-10-27T04:03:53.582Z,1761537833.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.75 m. 2025-10-27T04:03:53.735Z,1761537833.735 [DAT](INFO): DAT read: Rx Time:04:03:52.3813 2025-10-27T04:03:53.736Z,1761537833.736 [DAT](INFO): Rx dataTimestamp_ set to:1761537833.735443 2025-10-27T04:03:53.961Z,1761537833.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825131,-0.556746,-0.095880],[0.558444,-0.829475,0.010615],[-0.085440,-0.044785,0.995336]] 2025-10-27T04:03:54.029Z,1761537834.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.75 m. 2025-10-27T04:03:54.250Z,1761537834.250 [DAT](INFO): DAT read: 04:03:52.3813 LVL= 30080, 21281, 32754, 32755, AGC= 55, IDX= 436, 0.07,-0.132, 0.487,-1.320, 0.159, PHS=-0.189, 0.373,-1.523, RAW= 13.2, 15.7, CAL= 12.7, 19.1, ROT= 137.3, -19.1 2025-10-27T04:03:54.251Z,1761537834.251 [DAT](INFO): got valid direction response: 04:03:52.3813 LVL= 30080, 21281, 32754, 32755, AGC= 55, IDX= 436, 0.07,-0.132, 0.487,-1.320, 0.159, PHS=-0.189, 0.373,-1.523, RAW= 13.2, 15.7, CAL= 12.7, 19.1, ROT= 137.3, -19.1 2025-10-27T04:03:54.252Z,1761537834.252 [DAT](INFO): DAT read: Bearing 90.6, 43.1 (Local) 2025-10-27T04:03:54.252Z,1761537834.252 [DAT](INFO): Local bearing/azimuth received: Bearing 90.6, 43.1 (Local) 2025-10-27T04:03:54.253Z,1761537834.253 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (Round-trip 46.0 ms) speed 0.0 m/s 2025-10-27T04:03:54.254Z,1761537834.254 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:03:54.255Z,1761537834.255 [DAT](INFO): direction in FSK: [-0.694457,0.640826,0.327218] 2025-10-27T04:03:54.256Z,1761537834.256 [DAT](INFO): publishing direction and range info 2025-10-27T04:03:54.366Z,1761537834.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822119,-0.561193,-0.095828],[0.562853,-0.826480,0.011291],[-0.085537,-0.044654,0.995334]] 2025-10-27T04:03:54.414Z,1761537834.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 3.527572 s, deltaX: 0.599998 m, approachRate: 0.170088 m/s, rangeRepo size: 4 2025-10-27T04:03:54.416Z,1761537834.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.348690 m, bearing: 281.104268 deg, lat: 36.779400 deg, lon: -121.859523 deg, deltaT: 3.527572 s, deltaX: 0.596817 m, approachRate: 0.169186 m/s, posRepo size: 4 2025-10-27T04:03:54.417Z,1761537834.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:54.807Z,1761537834.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819345,-0.565270,-0.095625],[0.566887,-0.823709,0.011942],[-0.085517,-0.044424,0.995346]] 2025-10-27T04:03:54.857Z,1761537834.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:55.052Z,1761537835.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:03:55.173Z,1761537835.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816529,-0.569353,-0.095486],[0.570934,-0.820900,0.012542],[-0.085526,-0.044276,0.995352]] 2025-10-27T04:03:55.207Z,1761537835.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:55.578Z,1761537835.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813619,-0.573522,-0.095379],[0.575083,-0.817992,0.012975],[-0.085461,-0.044294,0.995356]] 2025-10-27T04:03:55.604Z,1761537835.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:55.988Z,1761537835.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810824,-0.577488,-0.095246],[0.579033,-0.815195,0.013353],[-0.085355,-0.044324,0.995364]] 2025-10-27T04:03:56.053Z,1761537836.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:56.055Z,1761537836.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:03:56.386Z,1761537836.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808135,-0.581275,-0.095063],[0.582813,-0.812493,0.013577],[-0.085130,-0.044432,0.995379]] 2025-10-27T04:03:56.412Z,1761537836.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:56.829Z,1761537836.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805574,-0.584877,-0.094704],[0.586396,-0.809906,0.013832],[-0.084791,-0.044392,0.995409]] 2025-10-27T04:03:56.889Z,1761537836.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:57.194Z,1761537837.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803204,-0.588185,-0.094344],[0.589684,-0.807511,0.014093],[-0.084474,-0.044314,0.995440]] 2025-10-27T04:03:57.220Z,1761537837.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:57.598Z,1761537837.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801010,-0.591287,-0.093608],[0.592754,-0.805257,0.014273],[-0.083818,-0.044054,0.995507]] 2025-10-27T04:03:57.628Z,1761537837.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:58.062Z,1761537838.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:58.406Z,1761537838.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797264,-0.596572,-0.092042],[0.597992,-0.801374,0.014338],[-0.082313,-0.043609,0.995652]] 2025-10-27T04:03:58.424Z,1761537838.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:58.837Z,1761537838.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795369,-0.599224,-0.091206],[0.600621,-0.799406,0.014338],[-0.081503,-0.043376,0.995729]] 2025-10-27T04:03:58.913Z,1761537838.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:59.216Z,1761537839.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793586,-0.601702,-0.090427],[0.603094,-0.797545,0.014127],[-0.080619,-0.043325,0.995803]] 2025-10-27T04:03:59.234Z,1761537839.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:03:59.618Z,1761537839.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792071,-0.603805,-0.089686],[0.605209,-0.795949,0.013700],[-0.079658,-0.043428,0.995876]] 2025-10-27T04:03:59.647Z,1761537839.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:00.023Z,1761537840.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790630,-0.605830,-0.088739],[0.607243,-0.794407,0.013200],[-0.078491,-0.043450,0.995967]] 2025-10-27T04:04:00.034Z,1761537840.034 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 98.45, 90.80, 97.94 2025-10-27T04:04:00.068Z,1761537840.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:04:00.070Z,1761537840.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:00.284Z,1761537840.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:04:00.284Z,1761537840.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:04:00.427Z,1761537840.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789107,-0.607946,-0.087813],[0.609352,-0.792795,0.012895],[-0.077457,-0.043334,0.996054]] 2025-10-27T04:04:00.446Z,1761537840.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:00.536Z,1761537840.536 [DAT](INFO): DAT read: user:49> 2025-10-27T04:04:00.536Z,1761537840.536 [DAT](INFO): DAT read: Tx time:04:03:59.5811 2025-10-27T04:04:00.537Z,1761537840.537 [DAT](INFO): Ping request sent. 2025-10-27T04:04:00.537Z,1761537840.537 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:04:00.537Z,1761537840.537 [DAT](INFO): publishing transmit ping time 2025-10-27T04:04:00.538Z,1761537840.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-27T04:04:00.788Z,1761537840.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251285 2025-10-27T04:04:00.858Z,1761537840.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787690,-0.609969,-0.086496],[0.611342,-0.791265,0.012704],[-0.076191,-0.042872,0.996171]] 2025-10-27T04:04:00.915Z,1761537840.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:01.040Z,1761537841.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503026 2025-10-27T04:04:01.237Z,1761537841.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786288,-0.611926,-0.085422],[0.613271,-0.789772,0.012579],[-0.075161,-0.042497,0.996265]] 2025-10-27T04:04:01.286Z,1761537841.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:01.292Z,1761537841.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755086 2025-10-27T04:04:01.544Z,1761537841.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007262 2025-10-27T04:04:01.637Z,1761537841.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784917,-0.613819,-0.084450],[0.615139,-0.788320,0.012460],[-0.074221,-0.042168,0.996350]] 2025-10-27T04:04:01.685Z,1761537841.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:01.796Z,1761537841.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259033 2025-10-27T04:04:02.043Z,1761537842.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783793,-0.615407,-0.083325],[0.616726,-0.787088,0.011926],[-0.072924,-0.042041,0.996451]] 2025-10-27T04:04:02.048Z,1761537842.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511023 2025-10-27T04:04:02.081Z,1761537842.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:02.300Z,1761537842.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763290 2025-10-27T04:04:02.445Z,1761537842.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782478,-0.617184,-0.082532],[0.618525,-0.785684,0.011263],[-0.071796,-0.042235,0.996525]] 2025-10-27T04:04:02.487Z,1761537842.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:02.552Z,1761537842.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015099 2025-10-27T04:04:02.804Z,1761537842.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266953 2025-10-27T04:04:02.854Z,1761537842.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781110,-0.619030,-0.081661],[0.620385,-0.784225,0.010650],[-0.070633,-0.042343,0.996603]] 2025-10-27T04:04:02.934Z,1761537842.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:03.056Z,1761537843.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519340 2025-10-27T04:04:03.258Z,1761537843.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779843,-0.620732,-0.080849],[0.622116,-0.782864,0.009843],[-0.069404,-0.042622,0.996678]] 2025-10-27T04:04:03.308Z,1761537843.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770970 2025-10-27T04:04:03.316Z,1761537843.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:03.560Z,1761537843.560 [DAT](INFO): DAT read: Rx Time:04:04:02.0324 2025-10-27T04:04:03.560Z,1761537843.560 [DAT](INFO): Rx dataTimestamp_ set to:1761537843.560079 2025-10-27T04:04:03.561Z,1761537843.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024008 2025-10-27T04:04:03.657Z,1761537843.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778449,-0.622577,-0.080097],[0.623978,-0.781387,0.009218],[-0.068326,-0.042803,0.996744]] 2025-10-27T04:04:03.685Z,1761537843.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.35 m. 2025-10-27T04:04:03.812Z,1761537843.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274996 2025-10-27T04:04:04.061Z,1761537844.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777018,-0.624473,-0.079228],[0.625877,-0.779873,0.008739],[-0.067245,-0.042797,0.996818]] 2025-10-27T04:04:04.069Z,1761537844.069 [DAT](INFO): DAT read: 04:04:02.0324 LVL= 26976, 24049, 32754, 32755, AGC= 56, IDX= 447,-0.13, 2.523,-2.931, 1.532, 2.925, PHS=-0.300, 0.472,-1.437, RAW= 6.3, 15.0, CAL= 6.4, 18.6, ROT= 143.6, -18.6 2025-10-27T04:04:04.070Z,1761537844.070 [DAT](INFO): got valid direction response: 04:04:02.0324 LVL= 26976, 24049, 32754, 32755, AGC= 56, IDX= 447,-0.13, 2.523,-2.931, 1.532, 2.925, PHS=-0.300, 0.472,-1.437, RAW= 6.3, 15.0, CAL= 6.4, 18.6, ROT= 143.6, -18.6 2025-10-27T04:04:04.071Z,1761537844.071 [DAT](INFO): DAT read: Bearing 89.7, 37.0 (Local) 2025-10-27T04:04:04.072Z,1761537844.072 [DAT](INFO): Local bearing/azimuth received: Bearing 89.7, 37.0 (Local) 2025-10-27T04:04:04.073Z,1761537844.073 [DAT](INFO): DAT read: Range 11 to 50 : 35.3 m (Round-trip 47.1 ms) speed -0.3 m/s 2025-10-27T04:04:04.074Z,1761537844.074 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:04:04.075Z,1761537844.075 [DAT](INFO): direction in FSK: [-0.762853,0.562424,0.318959] 2025-10-27T04:04:04.075Z,1761537844.075 [DAT](INFO): publishing direction and range info 2025-10-27T04:04:04.196Z,1761537844.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 9.826923 s, deltaX: 0.799999 m, approachRate: 0.081409 m/s, rangeRepo size: 4 2025-10-27T04:04:04.198Z,1761537844.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.144535 m, bearing: 283.321989 deg, lat: 36.779401 deg, lon: -121.859523 deg, deltaT: 9.826923 s, deltaX: 0.795845 m, approachRate: 0.080986 m/s, posRepo size: 4 2025-10-27T04:04:04.198Z,1761537844.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:04.465Z,1761537844.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775464,-0.626504,-0.078409],[0.627909,-0.778242,0.008295],[-0.066218,-0.042801,0.996887]] 2025-10-27T04:04:04.509Z,1761537844.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:04.869Z,1761537844.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773586,-0.628911,-0.077687],[0.630320,-0.776295,0.007899],[-0.065276,-0.042858,0.996947]] 2025-10-27T04:04:04.918Z,1761537844.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:05.284Z,1761537845.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771374,-0.631668,-0.077312],[0.633105,-0.774031,0.007372],[-0.064498,-0.043259,0.996980]] 2025-10-27T04:04:05.341Z,1761537845.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:05.677Z,1761537845.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769233,-0.634309,-0.077023],[0.635782,-0.771839,0.006740],[-0.063725,-0.043785,0.997007]] 2025-10-27T04:04:05.718Z,1761537845.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:06.082Z,1761537846.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766758,-0.637330,-0.076769],[0.638830,-0.769322,0.006296],[-0.063073,-0.044215,0.997029]] 2025-10-27T04:04:06.198Z,1761537846.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:06.495Z,1761537846.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764235,-0.640388,-0.076475],[0.641911,-0.766756,0.005889],[-0.062409,-0.044589,0.997054]] 2025-10-27T04:04:06.532Z,1761537846.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:06.892Z,1761537846.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761765,-0.643366,-0.076119],[0.644904,-0.764243,0.005547],[-0.061742,-0.044864,0.997083]] 2025-10-27T04:04:06.922Z,1761537846.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:07.328Z,1761537847.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759347,-0.646260,-0.075761],[0.647810,-0.761784,0.005251],[-0.061107,-0.045092,0.997112]] 2025-10-27T04:04:07.375Z,1761537847.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:07.702Z,1761537847.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756699,-0.649394,-0.075456],[0.650947,-0.759106,0.005134],[-0.060613,-0.045232,0.997136]] 2025-10-27T04:04:07.740Z,1761537847.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:08.103Z,1761537848.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753671,-0.652948,-0.075095],[0.654477,-0.756063,0.005450],[-0.060336,-0.045040,0.997161]] 2025-10-27T04:04:08.157Z,1761537848.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:08.511Z,1761537848.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750853,-0.656232,-0.074693],[0.657742,-0.753223,0.005638],[-0.059960,-0.044895,0.997191]] 2025-10-27T04:04:08.529Z,1761537848.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:08.910Z,1761537848.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748120,-0.659393,-0.074273],[0.660878,-0.750470,0.005916],[-0.059641,-0.044659,0.997220]] 2025-10-27T04:04:08.944Z,1761537848.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:09.313Z,1761537849.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745684,-0.662192,-0.073877],[0.663662,-0.748008,0.005988],[-0.059225,-0.044564,0.997249]] 2025-10-27T04:04:09.376Z,1761537849.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:09.724Z,1761537849.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743322,-0.664894,-0.073407],[0.666345,-0.745619,0.006113],[-0.058798,-0.044371,0.997283]] 2025-10-27T04:04:09.743Z,1761537849.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:10.125Z,1761537850.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741265,-0.667251,-0.072818],[0.668695,-0.743513,0.005907],[-0.058083,-0.044314,0.997328]] 2025-10-27T04:04:10.183Z,1761537850.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:10.526Z,1761537850.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739171,-0.669616,-0.072393],[0.671056,-0.741385,0.005774],[-0.057537,-0.044312,0.997359]] 2025-10-27T04:04:10.554Z,1761537850.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:10.929Z,1761537850.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737237,-0.671787,-0.072000],[0.673220,-0.739421,0.005711],[-0.057075,-0.044261,0.997388]] 2025-10-27T04:04:10.976Z,1761537850.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:11.402Z,1761537851.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:11.776Z,1761537851.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:12.144Z,1761537852.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732849,-0.676822,-0.069608],[0.678214,-0.734848,0.004778],[-0.054385,-0.043707,0.997563]] 2025-10-27T04:04:12.202Z,1761537852.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:12.546Z,1761537852.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731594,-0.678269,-0.068708],[0.679649,-0.733525,0.004366],[-0.053360,-0.043504,0.997627]] 2025-10-27T04:04:12.593Z,1761537852.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:12.950Z,1761537852.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730663,-0.679377,-0.067667],[0.680758,-0.732500,0.003534],[-0.051967,-0.043483,0.997702]] 2025-10-27T04:04:12.978Z,1761537852.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:13.354Z,1761537853.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729520,-0.680691,-0.066787],[0.682077,-0.731275,0.002746],[-0.050709,-0.043551,0.997763]] 2025-10-27T04:04:13.426Z,1761537853.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:13.758Z,1761537853.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728628,-0.681725,-0.065973],[0.683136,-0.730289,0.001575],[-0.049253,-0.043922,0.997820]] 2025-10-27T04:04:13.792Z,1761537853.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:14.161Z,1761537854.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727714,-0.682784,-0.065100],[0.684213,-0.729282,0.000477],[-0.047802,-0.044196,0.997879]] 2025-10-27T04:04:14.218Z,1761537854.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:14.567Z,1761537854.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726879,-0.683769,-0.064075],[0.685206,-0.728349,-0.000626],[-0.046241,-0.044360,0.997945]] 2025-10-27T04:04:14.589Z,1761537854.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:14.985Z,1761537854.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725035,-0.685950,-0.061624],[0.687369,-0.726304,-0.002579],[-0.042989,-0.044228,0.998096]] 2025-10-27T04:04:15.007Z,1761537855.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:15.378Z,1761537855.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724098,-0.687031,-0.060591],[0.688452,-0.725272,-0.003663],[-0.041428,-0.044366,0.998156]] 2025-10-27T04:04:15.429Z,1761537855.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:15.782Z,1761537855.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723088,-0.688170,-0.059715],[0.689600,-0.724175,-0.004793],[-0.039945,-0.044645,0.998204]] 2025-10-27T04:04:15.801Z,1761537855.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:16.186Z,1761537856.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722088,-0.689300,-0.058774],[0.690734,-0.723084,-0.005944],[-0.038401,-0.044889,0.998254]] 2025-10-27T04:04:16.251Z,1761537856.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:16.591Z,1761537856.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720918,-0.690579,-0.058129],[0.692021,-0.721844,-0.006879],[-0.037210,-0.045185,0.998285]] 2025-10-27T04:04:16.610Z,1761537856.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:16.996Z,1761537856.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720059,-0.691541,-0.057323],[0.692989,-0.720903,-0.008009],[-0.035785,-0.045491,0.998324]] 2025-10-27T04:04:17.030Z,1761537857.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:17.394Z,1761537857.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719091,-0.692623,-0.056401],[0.694059,-0.719864,-0.008822],[-0.034490,-0.045489,0.998369]] 2025-10-27T04:04:17.442Z,1761537857.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:17.798Z,1761537857.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717927,-0.693908,-0.055434],[0.695323,-0.718636,-0.009450],[-0.033280,-0.045329,0.998418]] 2025-10-27T04:04:17.817Z,1761537857.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:18.202Z,1761537858.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716535,-0.695418,-0.054510],[0.696801,-0.717199,-0.009705],[-0.032345,-0.044937,0.998466]] 2025-10-27T04:04:18.247Z,1761537858.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:18.606Z,1761537858.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715295,-0.696741,-0.053903],[0.698114,-0.715914,-0.010226],[-0.031465,-0.044944,0.998494]] 2025-10-27T04:04:18.640Z,1761537858.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:19.010Z,1761537859.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713884,-0.698224,-0.053414],[0.699591,-0.714463,-0.010709],[-0.030685,-0.045012,0.998515]] 2025-10-27T04:04:19.028Z,1761537859.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:19.422Z,1761537859.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712441,-0.699719,-0.053120],[0.701090,-0.712984,-0.011229],[-0.030016,-0.045242,0.998525]] 2025-10-27T04:04:19.489Z,1761537859.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:19.817Z,1761537859.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710962,-0.701231,-0.052991],[0.702610,-0.711480,-0.011653],[-0.029530,-0.045517,0.998527]] 2025-10-27T04:04:19.851Z,1761537859.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:20.222Z,1761537860.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709492,-0.702742,-0.052679],[0.704117,-0.709983,-0.011979],[-0.028983,-0.045591,0.998540]] 2025-10-27T04:04:20.278Z,1761537860.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:20.626Z,1761537860.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708098,-0.704170,-0.052366],[0.705537,-0.708569,-0.012152],[-0.028548,-0.045551,0.998554]] 2025-10-27T04:04:20.644Z,1761537860.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:21.032Z,1761537861.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706574,-0.705723,-0.052037],[0.707075,-0.707036,-0.012099],[-0.028254,-0.045343,0.998572]] 2025-10-27T04:04:21.050Z,1761537861.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:21.434Z,1761537861.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705847,-0.706457,-0.051944],[0.707797,-0.706316,-0.011832],[-0.028330,-0.045117,0.998580]] 2025-10-27T04:04:21.492Z,1761537861.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:21.837Z,1761537861.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705020,-0.707283,-0.051939],[0.708618,-0.705497,-0.011627],[-0.028420,-0.045002,0.998583]] 2025-10-27T04:04:21.880Z,1761537861.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:22.324Z,1761537862.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:22.647Z,1761537862.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703004,-0.709298,-0.051793],[0.710625,-0.703476,-0.011556],[-0.028239,-0.044929,0.998591]] 2025-10-27T04:04:22.666Z,1761537862.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:23.049Z,1761537863.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701721,-0.710563,-0.051852],[0.711893,-0.702193,-0.011549],[-0.028203,-0.045017,0.998588]] 2025-10-27T04:04:23.077Z,1761537863.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:23.456Z,1761537863.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700521,-0.711732,-0.052032],[0.713077,-0.700987,-0.011738],[-0.028120,-0.045325,0.998576]] 2025-10-27T04:04:23.517Z,1761537863.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:23.858Z,1761537863.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699088,-0.713149,-0.051907],[0.714487,-0.699551,-0.011651],[-0.028003,-0.045232,0.998584]] 2025-10-27T04:04:23.876Z,1761537863.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:24.271Z,1761537864.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697731,-0.714482,-0.051831],[0.715817,-0.698191,-0.011645],[-0.027868,-0.045227,0.998588]] 2025-10-27T04:04:24.306Z,1761537864.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:24.665Z,1761537864.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696168,-0.716006,-0.051825],[0.717335,-0.696634,-0.011428],[-0.027921,-0.045131,0.998591]] 2025-10-27T04:04:24.700Z,1761537864.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:25.069Z,1761537865.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694745,-0.717394,-0.051727],[0.718717,-0.695210,-0.011330],[-0.027833,-0.045048,0.998597]] 2025-10-27T04:04:25.107Z,1761537865.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:25.490Z,1761537865.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693349,-0.718745,-0.051699],[0.720066,-0.693815,-0.011249],[-0.027785,-0.045026,0.998599]] 2025-10-27T04:04:25.530Z,1761537865.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:25.879Z,1761537865.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692081,-0.719974,-0.051590],[0.721292,-0.692539,-0.011275],[-0.027610,-0.045014,0.998605]] 2025-10-27T04:04:25.898Z,1761537865.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:26.187Z,1761537866.187 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:04:26.281Z,1761537866.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691045,-0.720980,-0.051427],[0.722296,-0.691489,-0.011458],[-0.027301,-0.045063,0.998611]] 2025-10-27T04:04:26.333Z,1761537866.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:26.786Z,1761537866.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:27.090Z,1761537867.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689377,-0.722610,-0.050942],[0.723923,-0.689774,-0.012131],[-0.026372,-0.045241,0.998628]] 2025-10-27T04:04:27.108Z,1761537867.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:27.192Z,1761537867.192 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:04:27.495Z,1761537867.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688711,-0.723275,-0.050510],[0.724580,-0.689077,-0.012552],[-0.025727,-0.045243,0.998645]] 2025-10-27T04:04:27.548Z,1761537867.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:27.898Z,1761537867.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688098,-0.723893,-0.049998],[0.725187,-0.688430,-0.012992],[-0.025015,-0.045198,0.998665]] 2025-10-27T04:04:27.932Z,1761537867.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:28.306Z,1761537868.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687674,-0.724337,-0.049390],[0.725616,-0.687967,-0.013515],[-0.024189,-0.045132,0.998688]] 2025-10-27T04:04:28.359Z,1761537868.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:28.714Z,1761537868.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687519,-0.724526,-0.048792],[0.725796,-0.687761,-0.014317],[-0.023184,-0.045256,0.998706]] 2025-10-27T04:04:28.736Z,1761537868.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:29.109Z,1761537869.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687359,-0.724734,-0.047940],[0.725984,-0.687546,-0.015101],[-0.022017,-0.045184,0.998736]] 2025-10-27T04:04:29.141Z,1761537869.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:29.513Z,1761537869.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687646,-0.724514,-0.047145],[0.725753,-0.687763,-0.016267],[-0.020639,-0.045402,0.998756]] 2025-10-27T04:04:29.575Z,1761537869.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:29.919Z,1761537869.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687813,-0.724422,-0.046109],[0.725634,-0.687865,-0.017251],[-0.019220,-0.045324,0.998787]] 2025-10-27T04:04:29.937Z,1761537869.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:30.330Z,1761537870.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688129,-0.724188,-0.045067],[0.725373,-0.688109,-0.018414],[-0.017676,-0.045361,0.998814]] 2025-10-27T04:04:30.366Z,1761537870.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:30.729Z,1761537870.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688516,-0.723886,-0.043986],[0.725043,-0.688424,-0.019629],[-0.016072,-0.045407,0.998839]] 2025-10-27T04:04:30.769Z,1761537870.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:31.129Z,1761537871.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688939,-0.723555,-0.042801],[0.724678,-0.688770,-0.020932],[-0.014334,-0.045438,0.998864]] 2025-10-27T04:04:31.148Z,1761537871.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:31.541Z,1761537871.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689244,-0.723337,-0.041547],[0.724419,-0.689004,-0.022134],[-0.012616,-0.045353,0.998891]] 2025-10-27T04:04:31.578Z,1761537871.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:31.939Z,1761537871.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689526,-0.723139,-0.040293],[0.724179,-0.689215,-0.023405],[-0.010846,-0.045318,0.998914]] 2025-10-27T04:04:31.979Z,1761537871.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:32.366Z,1761537872.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689801,-0.722939,-0.039163],[0.723942,-0.689416,-0.024760],[-0.009100,-0.045431,0.998926]] 2025-10-27T04:04:32.384Z,1761537872.384 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, 2025-10-27T04:04:32.400Z,1761537872.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:32.746Z,1761537872.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690031,-0.722775,-0.038122],[0.723742,-0.689575,-0.026154],[-0.007384,-0.045637,0.998931]] 2025-10-27T04:04:32.765Z,1761537872.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:33.149Z,1761537873.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690116,-0.722755,-0.036942],[0.723677,-0.689591,-0.027480],[-0.005613,-0.045699,0.998940]] 2025-10-27T04:04:33.181Z,1761537873.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:33.553Z,1761537873.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689765,-0.723143,-0.035906],[0.724022,-0.689187,-0.028526],[-0.004118,-0.045673,0.998948]] 2025-10-27T04:04:33.607Z,1761537873.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:33.965Z,1761537873.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689599,-0.723351,-0.034882],[0.724187,-0.688964,-0.029693],[-0.002554,-0.045738,0.998950]] 2025-10-27T04:04:33.987Z,1761537873.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:34.393Z,1761537874.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689352,-0.723633,-0.033890],[0.724426,-0.688660,-0.030894],[-0.000983,-0.045848,0.998948]] 2025-10-27T04:04:34.438Z,1761537874.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:34.765Z,1761537874.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688584,-0.724398,-0.033167],[0.725157,-0.687848,-0.031821],[0.000238,-0.045963,0.998943]] 2025-10-27T04:04:34.791Z,1761537874.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:35.170Z,1761537875.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687825,-0.725147,-0.032530],[0.725875,-0.687048,-0.032719],[0.001377,-0.046117,0.998935]] 2025-10-27T04:04:35.196Z,1761537875.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:35.573Z,1761537875.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686969,-0.725990,-0.031807],[0.726682,-0.686163,-0.033365],[0.002398,-0.046034,0.998937]] 2025-10-27T04:04:35.629Z,1761537875.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:35.982Z,1761537875.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686219,-0.726719,-0.031353],[0.727387,-0.685375,-0.034179],[0.003350,-0.046260,0.998924]] 2025-10-27T04:04:36.001Z,1761537876.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:36.410Z,1761537876.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685025,-0.727862,-0.030936],[0.728509,-0.684164,-0.034562],[0.003991,-0.046213,0.998924]] 2025-10-27T04:04:36.477Z,1761537876.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:36.786Z,1761537876.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684013,-0.728833,-0.030473],[0.729455,-0.683136,-0.034935],[0.004645,-0.046124,0.998925]] 2025-10-27T04:04:36.804Z,1761537876.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:37.190Z,1761537877.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682889,-0.729903,-0.030078],[0.730504,-0.682004,-0.035140],[0.005135,-0.045968,0.998930]] 2025-10-27T04:04:37.209Z,1761537877.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:37.593Z,1761537877.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681878,-0.730849,-0.030032],[0.731446,-0.680982,-0.035370],[0.005399,-0.046085,0.998923]] 2025-10-27T04:04:37.636Z,1761537877.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:37.998Z,1761537877.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680823,-0.731835,-0.029965],[0.732427,-0.679923,-0.035440],[0.005563,-0.046076,0.998922]] 2025-10-27T04:04:38.036Z,1761537878.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:38.439Z,1761537878.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679916,-0.732678,-0.029953],[0.733268,-0.679015,-0.035443],[0.005630,-0.046062,0.998923]] 2025-10-27T04:04:38.503Z,1761537878.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:38.805Z,1761537878.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679033,-0.733497,-0.029944],[0.734086,-0.678134,-0.035372],[0.005640,-0.046000,0.998926]] 2025-10-27T04:04:38.849Z,1761537878.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:39.210Z,1761537879.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678166,-0.734299,-0.029942],[0.734888,-0.677276,-0.035174],[0.005549,-0.045858,0.998933]] 2025-10-27T04:04:39.237Z,1761537879.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:39.614Z,1761537879.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677649,-0.734772,-0.030040],[0.735365,-0.676762,-0.035087],[0.005451,-0.045867,0.998933]] 2025-10-27T04:04:39.664Z,1761537879.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:40.017Z,1761537880.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677071,-0.735303,-0.030063],[0.735899,-0.676196,-0.034822],[0.005277,-0.045701,0.998941]] 2025-10-27T04:04:40.035Z,1761537880.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:40.466Z,1761537880.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676792,-0.735549,-0.030328],[0.736157,-0.675916,-0.034803],[0.005100,-0.045881,0.998934]] 2025-10-27T04:04:40.504Z,1761537880.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:40.827Z,1761537880.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676542,-0.735779,-0.030317],[0.736386,-0.675669,-0.034727],[0.005067,-0.045819,0.998937]] 2025-10-27T04:04:40.845Z,1761537880.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:41.229Z,1761537881.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676442,-0.735869,-0.030400],[0.736479,-0.675569,-0.034703],[0.005000,-0.045863,0.998935]] 2025-10-27T04:04:41.256Z,1761537881.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:41.634Z,1761537881.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676223,-0.736068,-0.030432],[0.736681,-0.675358,-0.034525],[0.004860,-0.045765,0.998940]] 2025-10-27T04:04:41.678Z,1761537881.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:42.037Z,1761537882.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676363,-0.735939,-0.030455],[0.736552,-0.675496,-0.034579],[0.004876,-0.045820,0.998938]] 2025-10-27T04:04:42.056Z,1761537882.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:42.486Z,1761537882.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676296,-0.736005,-0.030344],[0.736614,-0.675436,-0.034429],[0.004845,-0.045636,0.998946]] 2025-10-27T04:04:42.533Z,1761537882.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:42.845Z,1761537882.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676519,-0.735805,-0.030203],[0.736408,-0.675658,-0.034495],[0.004974,-0.045578,0.998948]] 2025-10-27T04:04:42.871Z,1761537882.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:43.249Z,1761537883.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677190,-0.735199,-0.029945],[0.735789,-0.676314,-0.034848],[0.005368,-0.045632,0.998944]] 2025-10-27T04:04:43.277Z,1761537883.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:43.653Z,1761537883.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677824,-0.734620,-0.029813],[0.735202,-0.676934,-0.035180],[0.005662,-0.045765,0.998936]] 2025-10-27T04:04:43.723Z,1761537883.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:44.059Z,1761537884.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678483,-0.734016,-0.029696],[0.734592,-0.677574,-0.035606],[0.006014,-0.045972,0.998925]] 2025-10-27T04:04:44.077Z,1761537884.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:44.489Z,1761537884.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679079,-0.733481,-0.029294],[0.734037,-0.678160,-0.035892],[0.006460,-0.045876,0.998926]] 2025-10-27T04:04:44.540Z,1761537884.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:44.866Z,1761537884.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679758,-0.732865,-0.028942],[0.733404,-0.678826,-0.036255],[0.006923,-0.045870,0.998923]] 2025-10-27T04:04:44.909Z,1761537884.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:45.270Z,1761537885.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680842,-0.731877,-0.028454],[0.732390,-0.679885,-0.036888],[0.007653,-0.045954,0.998914]] 2025-10-27T04:04:45.311Z,1761537885.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:45.675Z,1761537885.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681862,-0.730944,-0.028020],[0.731434,-0.680884,-0.037441],[0.008289,-0.046024,0.998906]] 2025-10-27T04:04:45.739Z,1761537885.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:46.078Z,1761537886.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682882,-0.730013,-0.027441],[0.730473,-0.681886,-0.037956],[0.008997,-0.045965,0.998903]] 2025-10-27T04:04:46.114Z,1761537886.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:46.486Z,1761537886.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683925,-0.729057,-0.026885],[0.729488,-0.682910,-0.038485],[0.009698,-0.045933,0.998897]] 2025-10-27T04:04:46.568Z,1761537886.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:46.886Z,1761537886.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685141,-0.727934,-0.026340],[0.728335,-0.684103,-0.039139],[0.010472,-0.046000,0.998887]] 2025-10-27T04:04:46.955Z,1761537886.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:47.292Z,1761537887.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686322,-0.726843,-0.025721],[0.727211,-0.685261,-0.039778],[0.011287,-0.046005,0.998877]] 2025-10-27T04:04:47.331Z,1761537887.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:47.698Z,1761537887.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687279,-0.725957,-0.025195],[0.726296,-0.686203,-0.040252],[0.011933,-0.045963,0.998872]] 2025-10-27T04:04:47.754Z,1761537887.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:48.098Z,1761537888.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688209,-0.725091,-0.024737],[0.725404,-0.687116,-0.040744],[0.012546,-0.045985,0.998863]] 2025-10-27T04:04:48.120Z,1761537888.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:48.508Z,1761537888.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689221,-0.724143,-0.024295],[0.724430,-0.688108,-0.041333],[0.013214,-0.046088,0.998850]] 2025-10-27T04:04:48.573Z,1761537888.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:48.908Z,1761537888.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690054,-0.723364,-0.023862],[0.723626,-0.688925,-0.041804],[0.013801,-0.046114,0.998841]] 2025-10-27T04:04:48.973Z,1761537888.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:49.309Z,1761537889.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690769,-0.722695,-0.023453],[0.722935,-0.689630,-0.042138],[0.014279,-0.046063,0.998837]] 2025-10-27T04:04:49.341Z,1761537889.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:49.721Z,1761537889.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691120,-0.722367,-0.023201],[0.722594,-0.689980,-0.042255],[0.014516,-0.045968,0.998837]] 2025-10-27T04:04:49.766Z,1761537889.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:50.118Z,1761537890.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691457,-0.722052,-0.022991],[0.722268,-0.690314,-0.042373],[0.014724,-0.045905,0.998837]] 2025-10-27T04:04:50.146Z,1761537890.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:50.522Z,1761537890.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691606,-0.721907,-0.023037],[0.722124,-0.690459,-0.042459],[0.014746,-0.046000,0.998833]] 2025-10-27T04:04:50.570Z,1761537890.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:50.928Z,1761537890.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691572,-0.721944,-0.022922],[0.722157,-0.690432,-0.042332],[0.014736,-0.045829,0.998841]] 2025-10-27T04:04:50.984Z,1761537890.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:51.329Z,1761537891.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691183,-0.722311,-0.023088],[0.722537,-0.690056,-0.042001],[0.014406,-0.045712,0.998851]] 2025-10-27T04:04:51.376Z,1761537891.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:51.738Z,1761537891.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690936,-0.722539,-0.023337],[0.722778,-0.689813,-0.041821],[0.014119,-0.045763,0.998853]] 2025-10-27T04:04:51.775Z,1761537891.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:52.137Z,1761537892.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690504,-0.722941,-0.023652],[0.723198,-0.689390,-0.041548],[0.013731,-0.045794,0.998857]] 2025-10-27T04:04:52.174Z,1761537892.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:52.541Z,1761537892.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690033,-0.723376,-0.024114],[0.723657,-0.688926,-0.041240],[0.013220,-0.045907,0.998858]] 2025-10-27T04:04:52.621Z,1761537892.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:52.953Z,1761537892.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689229,-0.724129,-0.024503],[0.724434,-0.688143,-0.040667],[0.012586,-0.045779,0.998872]] 2025-10-27T04:04:53.010Z,1761537893.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:53.351Z,1761537893.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688527,-0.724785,-0.024851],[0.725112,-0.687463,-0.040099],[0.011979,-0.045629,0.998887]] 2025-10-27T04:04:53.373Z,1761537893.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:53.755Z,1761537893.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687702,-0.725554,-0.025247],[0.725905,-0.686661,-0.039481],[0.011309,-0.045478,0.998901]] 2025-10-27T04:04:53.805Z,1761537893.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:54.158Z,1761537894.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687052,-0.726151,-0.025757],[0.726530,-0.686026,-0.039016],[0.010661,-0.045519,0.998907]] 2025-10-27T04:04:54.179Z,1761537894.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:54.564Z,1761537894.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686370,-0.726780,-0.026214],[0.727183,-0.685361,-0.038539],[0.010043,-0.045514,0.998913]] 2025-10-27T04:04:54.582Z,1761537894.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:55.030Z,1761537895.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:55.420Z,1761537895.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:55.776Z,1761537895.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685406,-0.727649,-0.027303],[0.728111,-0.684433,-0.037506],[0.008604,-0.045587,0.998923]] 2025-10-27T04:04:55.817Z,1761537895.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:56.181Z,1761537896.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685608,-0.727455,-0.027424],[0.727923,-0.684639,-0.037383],[0.008419,-0.045593,0.998925]] 2025-10-27T04:04:56.216Z,1761537896.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:56.581Z,1761537896.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686011,-0.727078,-0.027301],[0.727542,-0.685048,-0.037302],[0.008419,-0.045452,0.998931]] 2025-10-27T04:04:56.608Z,1761537896.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:56.986Z,1761537896.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686600,-0.726522,-0.027316],[0.726987,-0.685635,-0.037342],[0.008401,-0.045498,0.998929]] 2025-10-27T04:04:57.034Z,1761537897.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:57.311Z,1761537897.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:04:57.394Z,1761537897.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687421,-0.725754,-0.027098],[0.726209,-0.686451,-0.037490],[0.008607,-0.045451,0.998930]] 2025-10-27T04:04:57.449Z,1761537897.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:57.852Z,1761537897.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:58.206Z,1761537898.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689570,-0.723733,-0.026508],[0.724158,-0.688579,-0.038125],[0.009340,-0.045485,0.998921]] 2025-10-27T04:04:58.229Z,1761537898.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:58.315Z,1761537898.315 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:04:58.637Z,1761537898.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:59.006Z,1761537899.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692311,-0.721156,-0.025296],[0.721521,-0.691294,-0.038990],[0.010631,-0.045245,0.998919]] 2025-10-27T04:04:59.077Z,1761537899.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:59.475Z,1761537899.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:04:59.868Z,1761537899.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:00.226Z,1761537900.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697980,-0.715746,-0.023054],[0.715997,-0.696909,-0.040816],[0.013147,-0.044995,0.998901]] 2025-10-27T04:05:00.243Z,1761537900.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:05:00.245Z,1761537900.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:00.312Z,1761537900.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:05:00.312Z,1761537900.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:05:00.564Z,1761537900.564 [DAT](INFO): DAT read: user:50> 2025-10-27T04:05:00.565Z,1761537900.565 [DAT](INFO): DAT read: Tx time:04:04:59.6311 2025-10-27T04:05:00.565Z,1761537900.565 [DAT](INFO): Ping request sent. 2025-10-27T04:05:00.565Z,1761537900.565 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:05:00.565Z,1761537900.565 [DAT](INFO): publishing transmit ping time 2025-10-27T04:05:00.566Z,1761537900.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-27T04:05:00.640Z,1761537900.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698954,-0.714805,-0.022752],[0.715039,-0.697875,-0.041104],[0.013503,-0.044998,0.998896]] 2025-10-27T04:05:00.674Z,1761537900.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:00.816Z,1761537900.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250698 2025-10-27T04:05:01.030Z,1761537901.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700083,-0.713711,-0.022375],[0.713924,-0.698989,-0.041553],[0.014017,-0.045065,0.998886]] 2025-10-27T04:05:01.068Z,1761537901.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502736 2025-10-27T04:05:01.076Z,1761537901.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:01.321Z,1761537901.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755312 2025-10-27T04:05:01.446Z,1761537901.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700558,-0.713250,-0.022220],[0.713456,-0.699464,-0.041614],[0.014139,-0.045006,0.998887]] 2025-10-27T04:05:01.480Z,1761537901.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:01.572Z,1761537901.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006712 2025-10-27T04:05:01.827Z,1761537901.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262111 2025-10-27T04:05:01.841Z,1761537901.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700742,-0.713071,-0.022146],[0.713276,-0.699655,-0.041467],[0.014074,-0.044854,0.998894]] 2025-10-27T04:05:01.886Z,1761537901.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:02.080Z,1761537902.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514570 2025-10-27T04:05:02.241Z,1761537902.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700825,-0.712984,-0.022297],[0.713198,-0.699742,-0.041363],[0.013889,-0.044891,0.998895]] 2025-10-27T04:05:02.280Z,1761537902.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:02.334Z,1761537902.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768368 2025-10-27T04:05:02.584Z,1761537902.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018630 2025-10-27T04:05:02.642Z,1761537902.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700615,-0.713177,-0.022716],[0.713412,-0.699534,-0.041171],[0.013472,-0.045050,0.998894]] 2025-10-27T04:05:02.663Z,1761537902.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:02.836Z,1761537902.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270903 2025-10-27T04:05:03.047Z,1761537903.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700056,-0.713714,-0.023111],[0.713972,-0.698991,-0.040700],[0.012893,-0.044993,0.998904]] 2025-10-27T04:05:03.083Z,1761537903.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:03.088Z,1761537903.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522807 2025-10-27T04:05:03.340Z,1761537903.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774664 2025-10-27T04:05:03.453Z,1761537903.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699536,-0.714204,-0.023698],[0.714492,-0.698480,-0.040336],[0.012256,-0.045148,0.998905]] 2025-10-27T04:05:03.482Z,1761537903.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:03.592Z,1761537903.592 [DAT](INFO): DAT read: Rx Time:04:05:02.0923 2025-10-27T04:05:03.592Z,1761537903.592 [DAT](INFO): Rx dataTimestamp_ set to:1761537903.592113 2025-10-27T04:05:03.593Z,1761537903.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027692 2025-10-27T04:05:03.845Z,1761537903.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279811 2025-10-27T04:05:03.855Z,1761537903.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698650,-0.715054,-0.024223],[0.715371,-0.697613,-0.039742],[0.011519,-0.045094,0.998916]] 2025-10-27T04:05:03.955Z,1761537903.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.14 m. 2025-10-27T04:05:04.102Z,1761537904.102 [DAT](INFO): DAT read: 04:05:02.0923 LVL= 21040, 17201, 27346, 28643, AGC= 59, IDX= 21, 0.31,-2.739,-1.681, 2.781,-2.255, PHS=-0.382, 0.619,-1.291, RAW= 358.4, 12.7, CAL= 358.8, 15.2, ROT= 151.2, -15.2 2025-10-27T04:05:04.103Z,1761537904.103 [DAT](INFO): got valid direction response: 04:05:02.0923 LVL= 21040, 17201, 27346, 28643, AGC= 59, IDX= 21, 0.31,-2.739,-1.681, 2.781,-2.255, PHS=-0.382, 0.619,-1.291, RAW= 358.4, 12.7, CAL= 358.8, 15.2, ROT= 151.2, -15.2 2025-10-27T04:05:04.104Z,1761537904.104 [DAT](INFO): DAT read: Bearing 92.0, 26.5 (Local) 2025-10-27T04:05:04.104Z,1761537904.104 [DAT](INFO): Local bearing/azimuth received: Bearing 92.0, 26.5 (Local) 2025-10-27T04:05:04.105Z,1761537904.105 [DAT](INFO): DAT read: Range 11 to 50 : 42.8 m (Round-trip 57.1 ms) speed -0.1 m/s 2025-10-27T04:05:04.106Z,1761537904.106 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:05:04.107Z,1761537904.107 [DAT](INFO): direction in FSK: [-0.845650,0.464900,0.262189] 2025-10-27T04:05:04.108Z,1761537904.108 [DAT](INFO): publishing direction and range info 2025-10-27T04:05:04.261Z,1761537904.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697610,-0.716047,-0.024830],[0.716398,-0.696600,-0.039006],[0.010633,-0.044999,0.998930]] 2025-10-27T04:05:04.316Z,1761537904.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.799999 m, deltaT: 60.031858 s, deltaX: 7.500000 m, approachRate: 0.124934 m/s, rangeRepo size: 4 2025-10-27T04:05:04.318Z,1761537904.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.612553 m, bearing: 284.925403 deg, lat: 36.779406 deg, lon: -121.859523 deg, deltaT: 60.031858 s, deltaX: 7.468018 m, approachRate: 0.124401 m/s, posRepo size: 4 2025-10-27T04:05:04.318Z,1761537904.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:04.662Z,1761537904.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696666,-0.716934,-0.025728],[0.717331,-0.695674,-0.038395],[0.009628,-0.045204,0.998931]] 2025-10-27T04:05:04.689Z,1761537904.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:05.066Z,1761537905.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695686,-0.717856,-0.026511],[0.718294,-0.694719,-0.037687],[0.008637,-0.045261,0.998938]] 2025-10-27T04:05:05.118Z,1761537905.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:05.520Z,1761537905.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:05.878Z,1761537905.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693597,-0.719816,-0.028065],[0.720335,-0.692698,-0.035889],[0.006393,-0.045109,0.998962]] 2025-10-27T04:05:05.942Z,1761537905.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:06.280Z,1761537906.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692717,-0.720635,-0.028800],[0.721190,-0.691848,-0.035084],[0.005357,-0.045074,0.998969]] 2025-10-27T04:05:06.314Z,1761537906.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:06.682Z,1761537906.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692204,-0.721100,-0.029461],[0.721688,-0.691360,-0.034469],[0.004487,-0.045121,0.998971]] 2025-10-27T04:05:06.706Z,1761537906.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:07.087Z,1761537907.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691765,-0.721499,-0.030024],[0.722114,-0.690947,-0.033825],[0.003660,-0.045079,0.998977]] 2025-10-27T04:05:07.151Z,1761537907.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:07.491Z,1761537907.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691617,-0.721611,-0.030700],[0.722258,-0.690816,-0.033406],[0.002898,-0.045278,0.998970]] 2025-10-27T04:05:07.509Z,1761537907.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:07.898Z,1761537907.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691591,-0.721614,-0.031230],[0.722286,-0.690805,-0.033040],[0.002268,-0.045407,0.998966]] 2025-10-27T04:05:07.970Z,1761537907.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:08.128Z,1761537908.128 [DAT](INFO): DAT read: user:51>Rx Time:04:05:06.6815 2025-10-27T04:05:08.129Z,1761537908.129 [DAT](INFO): Rx dataTimestamp_ set to:1761537908.128226 2025-10-27T04:05:08.301Z,1761537908.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691711,-0.721489,-0.031462],[0.722173,-0.690941,-0.032669],[0.001832,-0.045318,0.998971]] 2025-10-27T04:05:08.318Z,1761537908.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:08.636Z,1761537908.636 [DAT](INFO): DAT read: 04:05:06.6815 LVL= 24048, 22449, 32754, 32755, AGC= 60, IDX= 342,-0.03, 2.454,-2.755, 1.686, 2.964, PHS=-0.409, 0.609,-1.322, RAW= 358.2, 13.3, CAL= 358.6, 16.2, ROT= 151.4, -16.2 2025-10-27T04:05:08.637Z,1761537908.637 [DAT](INFO): got valid direction response: 04:05:06.6815 LVL= 24048, 22449, 32754, 32755, AGC= 60, IDX= 342,-0.03, 2.454,-2.755, 1.686, 2.964, PHS=-0.409, 0.609,-1.322, RAW= 358.2, 13.3, CAL= 358.6, 16.2, ROT= 151.4, -16.2 2025-10-27T04:05:08.638Z,1761537908.638 [DAT](INFO): DAT read: bearing request 2025-10-27T04:05:08.638Z,1761537908.638 [DAT](INFO): received a bearing request message 2025-10-27T04:05:08.639Z,1761537908.639 [DAT](INFO): DAT read: Tx time:04:05:08.2843 2025-10-27T04:05:08.640Z,1761537908.640 [DAT](INFO): Ping request sent. 2025-10-27T04:05:08.640Z,1761537908.640 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:05:08.640Z,1761537908.640 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-27T04:05:08.641Z,1761537908.641 [DAT](INFO): direction in FSK: [-0.843121,0.459685,0.278991] 2025-10-27T04:05:08.641Z,1761537908.641 [DAT](INFO): publishing transmit ping time 2025-10-27T04:05:08.642Z,1761537908.642 [DAT](INFO): publishing range request flag 2025-10-27T04:05:08.654Z,1761537908.654 [DAT](INFO): publishing transmit ping time 2025-10-27T04:05:08.654Z,1761537908.654 [DAT](INFO): publishing range request flag 2025-10-27T04:05:08.724Z,1761537908.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691875,-0.721330,-0.031504],[0.722016,-0.691123,-0.032270],[0.001505,-0.045073,0.998983]] 2025-10-27T04:05:08.763Z,1761537908.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:09.105Z,1761537909.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692361,-0.720863,-0.031510],[0.721550,-0.691617,-0.032128],[0.001367,-0.044980,0.998987]] 2025-10-27T04:05:09.153Z,1761537909.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:09.510Z,1761537909.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692947,-0.720304,-0.031412],[0.720987,-0.692210,-0.031984],[0.001294,-0.044811,0.998995]] 2025-10-27T04:05:09.536Z,1761537909.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:09.933Z,1761537909.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693628,-0.719641,-0.031565],[0.720332,-0.692890,-0.032011],[0.001165,-0.044941,0.998989]] 2025-10-27T04:05:09.983Z,1761537909.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:10.321Z,1761537910.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694535,-0.718773,-0.031388],[0.719457,-0.693788,-0.032244],[0.001399,-0.044977,0.998987]] 2025-10-27T04:05:10.349Z,1761537910.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:10.726Z,1761537910.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695229,-0.718110,-0.031219],[0.718787,-0.694478,-0.032332],[0.001537,-0.044918,0.998990]] 2025-10-27T04:05:10.761Z,1761537910.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:11.125Z,1761537911.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695999,-0.717361,-0.031272],[0.718041,-0.695238,-0.032577],[0.001628,-0.045128,0.998980]] 2025-10-27T04:05:11.179Z,1761537911.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:11.530Z,1761537911.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696922,-0.716486,-0.030771],[0.717144,-0.696149,-0.032883],[0.002139,-0.044984,0.998985]] 2025-10-27T04:05:11.548Z,1761537911.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:11.954Z,1761537911.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697732,-0.715703,-0.030651],[0.716355,-0.696945,-0.033203],[0.002402,-0.045124,0.998979]] 2025-10-27T04:05:11.991Z,1761537911.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:12.373Z,1761537912.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698383,-0.715077,-0.030433],[0.715719,-0.697588,-0.033415],[0.002665,-0.045118,0.998978]] 2025-10-27T04:05:12.392Z,1761537912.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:12.741Z,1761537912.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699009,-0.714476,-0.030172],[0.715106,-0.698205,-0.033654],[0.002979,-0.045101,0.998978]] 2025-10-27T04:05:12.759Z,1761537912.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:13.146Z,1761537913.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699725,-0.713788,-0.029859],[0.714404,-0.698907,-0.033996],[0.003398,-0.045119,0.998976]] 2025-10-27T04:05:13.193Z,1761537913.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:13.550Z,1761537913.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700319,-0.713217,-0.029594],[0.713820,-0.699486,-0.034354],[0.003802,-0.045184,0.998971]] 2025-10-27T04:05:13.584Z,1761537913.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:13.979Z,1761537913.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700738,-0.712817,-0.029305],[0.713407,-0.699897,-0.034572],[0.004133,-0.045132,0.998972]] 2025-10-27T04:05:14.022Z,1761537914.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:14.361Z,1761537914.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701156,-0.712418,-0.028993],[0.712994,-0.700307,-0.034765],[0.004463,-0.045047,0.998975]] 2025-10-27T04:05:14.381Z,1761537914.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:14.761Z,1761537914.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701585,-0.712007,-0.028702],[0.712569,-0.700728,-0.035000],[0.004808,-0.045008,0.998975]] 2025-10-27T04:05:14.796Z,1761537914.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:15.165Z,1761537915.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701991,-0.711609,-0.028638],[0.712168,-0.701123,-0.035257],[0.005011,-0.045145,0.998968]] 2025-10-27T04:05:15.212Z,1761537915.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:15.570Z,1761537915.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702352,-0.711263,-0.028418],[0.711810,-0.701474,-0.035499],[0.005314,-0.045161,0.998966]] 2025-10-27T04:05:15.596Z,1761537915.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:16.006Z,1761537916.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702675,-0.710951,-0.028241],[0.711490,-0.701790,-0.035690],[0.005554,-0.045171,0.998964]] 2025-10-27T04:05:16.049Z,1761537916.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:16.380Z,1761537916.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702879,-0.710755,-0.028075],[0.711287,-0.701992,-0.035759],[0.005707,-0.045103,0.998966]] 2025-10-27T04:05:16.424Z,1761537916.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:16.782Z,1761537916.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703102,-0.710543,-0.027877],[0.711065,-0.702213,-0.035830],[0.005883,-0.045014,0.998969]] 2025-10-27T04:05:16.816Z,1761537916.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:17.185Z,1761537917.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703440,-0.710211,-0.027791],[0.710728,-0.702541,-0.036066],[0.006090,-0.045123,0.998963]] 2025-10-27T04:05:17.240Z,1761537917.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:17.591Z,1761537917.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703482,-0.710170,-0.027774],[0.710686,-0.702583,-0.036081],[0.006110,-0.045121,0.998963]] 2025-10-27T04:05:17.616Z,1761537917.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:18.036Z,1761537918.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703603,-0.710056,-0.027627],[0.710566,-0.702703,-0.036107],[0.006224,-0.045036,0.998966]] 2025-10-27T04:05:18.088Z,1761537918.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:18.410Z,1761537918.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703615,-0.710043,-0.027652],[0.710554,-0.702716,-0.036098],[0.006200,-0.045048,0.998966]] 2025-10-27T04:05:18.453Z,1761537918.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:18.803Z,1761537918.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703752,-0.709907,-0.027667],[0.710418,-0.702848,-0.036204],[0.006256,-0.045134,0.998961]] 2025-10-27T04:05:18.821Z,1761537918.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:19.206Z,1761537919.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703598,-0.710059,-0.027689],[0.710572,-0.702699,-0.036080],[0.006162,-0.045061,0.998965]] 2025-10-27T04:05:19.253Z,1761537919.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:19.610Z,1761537919.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703439,-0.710212,-0.027787],[0.710730,-0.702544,-0.035978],[0.006030,-0.045057,0.998966]] 2025-10-27T04:05:19.652Z,1761537919.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:20.049Z,1761537920.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703016,-0.710623,-0.027985],[0.711151,-0.702133,-0.035692],[0.005715,-0.044994,0.998971]] 2025-10-27T04:05:20.102Z,1761537920.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:20.431Z,1761537920.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702884,-0.710744,-0.028243],[0.711284,-0.702000,-0.035653],[0.005514,-0.045149,0.998965]] 2025-10-27T04:05:20.449Z,1761537920.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:20.821Z,1761537920.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702573,-0.711041,-0.028496],[0.711592,-0.701697,-0.035456],[0.005215,-0.045188,0.998965]] 2025-10-27T04:05:20.853Z,1761537920.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:21.225Z,1761537921.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702385,-0.711223,-0.028599],[0.711779,-0.701513,-0.035339],[0.005072,-0.045178,0.998966]] 2025-10-27T04:05:21.272Z,1761537921.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:21.630Z,1761537921.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702390,-0.711210,-0.028786],[0.711775,-0.701516,-0.035382],[0.004970,-0.045341,0.998959]] 2025-10-27T04:05:21.655Z,1761537921.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:22.054Z,1761537922.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702360,-0.711230,-0.029015],[0.711806,-0.701487,-0.035325],[0.004771,-0.045464,0.998955]] 2025-10-27T04:05:22.113Z,1761537922.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:22.441Z,1761537922.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702344,-0.711243,-0.029084],[0.711822,-0.701477,-0.035201],[0.004635,-0.045426,0.998957]] 2025-10-27T04:05:22.494Z,1761537922.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:22.842Z,1761537922.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702417,-0.711175,-0.028999],[0.711751,-0.701555,-0.035077],[0.004601,-0.045278,0.998964]] 2025-10-27T04:05:22.860Z,1761537922.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:23.246Z,1761537923.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702718,-0.710877,-0.028986],[0.711453,-0.701854,-0.035153],[0.004646,-0.045325,0.998961]] 2025-10-27T04:05:23.302Z,1761537923.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:23.651Z,1761537923.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702943,-0.710656,-0.028960],[0.711231,-0.702080,-0.035140],[0.004641,-0.045299,0.998963]] 2025-10-27T04:05:23.670Z,1761537923.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:24.058Z,1761537924.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703457,-0.710157,-0.028730],[0.710721,-0.702589,-0.035274],[0.004864,-0.045232,0.998965]] 2025-10-27T04:05:24.139Z,1761537924.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:24.458Z,1761537924.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704076,-0.709552,-0.028497],[0.710106,-0.703201,-0.035470],[0.005128,-0.045210,0.998964]] 2025-10-27T04:05:24.521Z,1761537924.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:24.861Z,1761537924.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704855,-0.708787,-0.028301],[0.709331,-0.703967,-0.035786],[0.005442,-0.045299,0.998959]] 2025-10-27T04:05:24.880Z,1761537924.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:25.269Z,1761537925.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705677,-0.707984,-0.027890],[0.708509,-0.704780,-0.036049],[0.005866,-0.045199,0.998961]] 2025-10-27T04:05:25.305Z,1761537925.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:25.670Z,1761537925.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706595,-0.707081,-0.027559],[0.707590,-0.705683,-0.036440],[0.006318,-0.045249,0.998956]] 2025-10-27T04:05:25.704Z,1761537925.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:26.078Z,1761537926.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707545,-0.706150,-0.027068],[0.706635,-0.706620,-0.036812],[0.006868,-0.045173,0.998956]] 2025-10-27T04:05:26.155Z,1761537926.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:26.485Z,1761537926.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708354,-0.705355,-0.026632],[0.705819,-0.707421,-0.037089],[0.007321,-0.045070,0.998957]] 2025-10-27T04:05:26.546Z,1761537926.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:26.882Z,1761537926.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709274,-0.704446,-0.026198],[0.704889,-0.708327,-0.037479],[0.007845,-0.045050,0.998954]] 2025-10-27T04:05:26.919Z,1761537926.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:27.286Z,1761537927.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710109,-0.703614,-0.025922],[0.704043,-0.709147,-0.037861],[0.008257,-0.045136,0.998947]] 2025-10-27T04:05:27.337Z,1761537927.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:27.691Z,1761537927.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710837,-0.702891,-0.025589],[0.703303,-0.709864,-0.038173],[0.008667,-0.045131,0.998944]] 2025-10-27T04:05:27.734Z,1761537927.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:28.094Z,1761537928.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711405,-0.702322,-0.025441],[0.702726,-0.710421,-0.038444],[0.008926,-0.045227,0.998937]] 2025-10-27T04:05:28.129Z,1761537928.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:28.439Z,1761537928.439 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:05:28.503Z,1761537928.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712008,-0.701718,-0.025228],[0.702110,-0.711012,-0.038773],[0.009270,-0.045319,0.998930]] 2025-10-27T04:05:28.546Z,1761537928.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:28.910Z,1761537928.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712366,-0.701358,-0.025121],[0.701744,-0.711362,-0.038977],[0.009467,-0.045394,0.998924]] 2025-10-27T04:05:28.935Z,1761537928.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:29.305Z,1761537929.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712423,-0.701299,-0.025154],[0.701686,-0.711417,-0.039012],[0.009464,-0.045443,0.998922]] 2025-10-27T04:05:29.352Z,1761537929.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:29.443Z,1761537929.443 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:05:29.716Z,1761537929.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712262,-0.701461,-0.025218],[0.701852,-0.711260,-0.038889],[0.009343,-0.045399,0.998925]] 2025-10-27T04:05:29.740Z,1761537929.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:30.116Z,1761537930.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711906,-0.701812,-0.025489],[0.702217,-0.710912,-0.038675],[0.009022,-0.045432,0.998927]] 2025-10-27T04:05:30.138Z,1761537930.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:30.522Z,1761537930.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711442,-0.702273,-0.025764],[0.702692,-0.710458,-0.038382],[0.008651,-0.045411,0.998931]] 2025-10-27T04:05:30.578Z,1761537930.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:30.958Z,1761537930.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:31.327Z,1761537931.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710448,-0.703259,-0.026279],[0.703705,-0.709487,-0.037767],[0.007916,-0.045324,0.998941]] 2025-10-27T04:05:31.393Z,1761537931.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:31.734Z,1761537931.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710228,-0.703469,-0.026594],[0.703930,-0.709269,-0.037675],[0.007641,-0.045479,0.998936]] 2025-10-27T04:05:31.770Z,1761537931.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:32.133Z,1761537932.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709726,-0.703963,-0.026923],[0.704441,-0.708780,-0.037344],[0.007206,-0.045470,0.998940]] 2025-10-27T04:05:32.161Z,1761537932.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:32.542Z,1761537932.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709315,-0.704361,-0.027352],[0.704859,-0.708379,-0.037053],[0.006723,-0.045562,0.998939]] 2025-10-27T04:05:32.598Z,1761537932.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:32.944Z,1761537932.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708847,-0.704813,-0.027838],[0.705335,-0.707923,-0.036695],[0.006156,-0.045646,0.998939]] 2025-10-27T04:05:32.962Z,1761537932.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:33.346Z,1761537933.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708675,-0.704977,-0.028041],[0.705511,-0.707761,-0.036460],[0.005857,-0.045621,0.998942]] 2025-10-27T04:05:33.406Z,1761537933.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:33.750Z,1761537933.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708424,-0.705223,-0.028213],[0.705766,-0.707523,-0.036140],[0.005526,-0.045514,0.998948]] 2025-10-27T04:05:33.791Z,1761537933.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:34.154Z,1761537934.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708326,-0.705314,-0.028408],[0.705866,-0.707434,-0.035909],[0.005230,-0.045488,0.998951]] 2025-10-27T04:05:34.179Z,1761537934.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:34.562Z,1761537934.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708564,-0.705073,-0.028466],[0.705628,-0.707673,-0.035887],[0.005158,-0.045515,0.998950]] 2025-10-27T04:05:34.631Z,1761537934.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:34.962Z,1761537934.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708755,-0.704878,-0.028506],[0.705437,-0.707870,-0.035773],[0.005037,-0.045464,0.998953]] 2025-10-27T04:05:35.045Z,1761537935.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:35.367Z,1761537935.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708995,-0.704639,-0.028445],[0.705195,-0.708112,-0.035746],[0.005045,-0.045403,0.998956]] 2025-10-27T04:05:35.429Z,1761537935.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:35.771Z,1761537935.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709480,-0.704155,-0.028350],[0.704707,-0.708592,-0.035859],[0.005162,-0.045419,0.998955]] 2025-10-27T04:05:35.788Z,1761537935.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:36.175Z,1761537936.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709882,-0.703755,-0.028226],[0.704301,-0.708991,-0.035956],[0.005292,-0.045404,0.998955]] 2025-10-27T04:05:36.194Z,1761537936.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:36.578Z,1761537936.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710378,-0.703262,-0.028015],[0.703799,-0.709480,-0.036130],[0.005532,-0.045383,0.998954]] 2025-10-27T04:05:36.630Z,1761537936.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:36.982Z,1761537936.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710782,-0.702862,-0.027817],[0.703389,-0.709878,-0.036295],[0.005764,-0.045365,0.998954]] 2025-10-27T04:05:37.008Z,1761537937.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:37.407Z,1761537937.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711151,-0.702501,-0.027505],[0.703013,-0.710241,-0.036465],[0.006082,-0.045269,0.998956]] 2025-10-27T04:05:37.465Z,1761537937.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:37.794Z,1761537937.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711593,-0.702057,-0.027414],[0.702563,-0.710668,-0.036819],[0.006367,-0.045460,0.998946]] 2025-10-27T04:05:37.818Z,1761537937.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:38.197Z,1761537938.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711961,-0.701692,-0.027223],[0.702188,-0.711024,-0.037111],[0.006684,-0.045538,0.998940]] 2025-10-27T04:05:38.234Z,1761537938.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:38.606Z,1761537938.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712241,-0.701417,-0.026957],[0.701900,-0.711295,-0.037359],[0.007029,-0.045530,0.998938]] 2025-10-27T04:05:38.664Z,1761537938.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:39.008Z,1761537939.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712593,-0.701067,-0.026757],[0.701539,-0.711635,-0.037664],[0.007364,-0.045610,0.998932]] 2025-10-27T04:05:39.026Z,1761537939.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:39.414Z,1761537939.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712860,-0.700801,-0.026618],[0.701264,-0.711889,-0.037974],[0.007663,-0.045737,0.998924]] 2025-10-27T04:05:39.464Z,1761537939.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:39.814Z,1761537939.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713038,-0.700629,-0.026373],[0.701080,-0.712062,-0.038128],[0.007934,-0.045677,0.998925]] 2025-10-27T04:05:39.833Z,1761537939.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:40.218Z,1761537940.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713182,-0.700491,-0.026156],[0.700931,-0.712202,-0.038262],[0.008174,-0.045621,0.998925]] 2025-10-27T04:05:40.236Z,1761537940.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:40.622Z,1761537940.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713460,-0.700220,-0.025818],[0.700644,-0.712472,-0.038496],[0.008561,-0.045554,0.998925]] 2025-10-27T04:05:40.757Z,1761537940.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:41.026Z,1761537941.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713840,-0.699844,-0.025534],[0.700253,-0.712843,-0.038751],[0.008918,-0.045543,0.998923]] 2025-10-27T04:05:41.070Z,1761537941.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:41.430Z,1761537941.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714267,-0.699417,-0.025283],[0.699812,-0.713260,-0.039016],[0.009256,-0.045561,0.998919]] 2025-10-27T04:05:41.489Z,1761537941.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:41.835Z,1761537941.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714845,-0.698838,-0.024939],[0.699215,-0.713827,-0.039359],[0.009703,-0.045573,0.998914]] 2025-10-27T04:05:41.865Z,1761537941.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:42.276Z,1761537942.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:42.642Z,1761537942.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716020,-0.697648,-0.024555],[0.698004,-0.714980,-0.039923],[0.010296,-0.045725,0.998901]] 2025-10-27T04:05:42.694Z,1761537942.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:43.046Z,1761537943.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716843,-0.696821,-0.024026],[0.697150,-0.715793,-0.040267],[0.010861,-0.045615,0.998900]] 2025-10-27T04:05:43.070Z,1761537943.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:43.450Z,1761537943.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717524,-0.696133,-0.023646],[0.696443,-0.716469,-0.040483],[0.011240,-0.045515,0.998900]] 2025-10-27T04:05:43.507Z,1761537943.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:43.854Z,1761537943.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718133,-0.695514,-0.023351],[0.695810,-0.717073,-0.040664],[0.011538,-0.045450,0.998900]] 2025-10-27T04:05:43.907Z,1761537943.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:44.258Z,1761537944.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718757,-0.694879,-0.023060],[0.695160,-0.717691,-0.040887],[0.011862,-0.045419,0.998898]] 2025-10-27T04:05:44.280Z,1761537944.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:44.676Z,1761537944.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718979,-0.694653,-0.022969],[0.694934,-0.717930,-0.040533],[0.011666,-0.045104,0.998914]] 2025-10-27T04:05:44.731Z,1761537944.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:45.070Z,1761537945.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718686,-0.694947,-0.023209],[0.695245,-0.717658,-0.040012],[0.011150,-0.044892,0.998930]] 2025-10-27T04:05:45.097Z,1761537945.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:45.474Z,1761537945.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718722,-0.694903,-0.023432],[0.695213,-0.717702,-0.039771],[0.010820,-0.044874,0.998934]] 2025-10-27T04:05:45.522Z,1761537945.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:45.885Z,1761537945.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718392,-0.695223,-0.024025],[0.695564,-0.717383,-0.039409],[0.010163,-0.045022,0.998934]] 2025-10-27T04:05:45.926Z,1761537945.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:46.284Z,1761537946.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717801,-0.695806,-0.024811],[0.696186,-0.716807,-0.038891],[0.009276,-0.045189,0.998935]] 2025-10-27T04:05:46.302Z,1761537946.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:46.684Z,1761537946.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716856,-0.696751,-0.025622],[0.697174,-0.715890,-0.038084],[0.008193,-0.045164,0.998946]] 2025-10-27T04:05:46.738Z,1761537946.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:47.085Z,1761537947.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716107,-0.697482,-0.026645],[0.697955,-0.715163,-0.037414],[0.007041,-0.045389,0.998945]] 2025-10-27T04:05:47.123Z,1761537947.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:47.490Z,1761537947.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715056,-0.698516,-0.027743],[0.699044,-0.714152,-0.036380],[0.005599,-0.045407,0.998953]] 2025-10-27T04:05:47.544Z,1761537947.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:47.901Z,1761537947.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714102,-0.699448,-0.028820],[0.700029,-0.713242,-0.035289],[0.004128,-0.045375,0.998962]] 2025-10-27T04:05:47.919Z,1761537947.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:48.298Z,1761537948.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713149,-0.700373,-0.029931],[0.701007,-0.712337,-0.034134],[0.002586,-0.045325,0.998969]] 2025-10-27T04:05:48.330Z,1761537948.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:48.706Z,1761537948.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712391,-0.701091,-0.031158],[0.701782,-0.711624,-0.033059],[0.001005,-0.045417,0.998968]] 2025-10-27T04:05:48.757Z,1761537948.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:49.106Z,1761537949.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711674,-0.701765,-0.032344],[0.702509,-0.710958,-0.031914],[-0.000599,-0.045435,0.998967]] 2025-10-27T04:05:49.124Z,1761537949.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:49.512Z,1761537949.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711341,-0.702052,-0.033418],[0.702844,-0.710668,-0.031009],[-0.001979,-0.045545,0.998960]] 2025-10-27T04:05:49.550Z,1761537949.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:49.913Z,1761537949.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711260,-0.702089,-0.034341],[0.702922,-0.710626,-0.030198],[-0.003201,-0.045618,0.998954]] 2025-10-27T04:05:49.940Z,1761537949.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:50.317Z,1761537950.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711448,-0.701856,-0.035209],[0.702725,-0.710852,-0.029436],[-0.004369,-0.045685,0.998946]] 2025-10-27T04:05:50.336Z,1761537950.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:50.734Z,1761537950.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711883,-0.701382,-0.035848],[0.702277,-0.711326,-0.028686],[-0.005380,-0.045596,0.998945]] 2025-10-27T04:05:50.780Z,1761537950.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:51.127Z,1761537951.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712655,-0.700578,-0.036244],[0.701488,-0.712131,-0.028003],[-0.006192,-0.045381,0.998951]] 2025-10-27T04:05:51.151Z,1761537951.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:51.529Z,1761537951.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713878,-0.699319,-0.036478],[0.700237,-0.713378,-0.027566],[-0.006745,-0.045222,0.998954]] 2025-10-27T04:05:51.576Z,1761537951.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:51.934Z,1761537951.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715433,-0.697726,-0.036524],[0.698645,-0.714946,-0.027321],[-0.007050,-0.045064,0.998959]] 2025-10-27T04:05:51.975Z,1761537951.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:52.338Z,1761537952.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717133,-0.695971,-0.036670],[0.696898,-0.716653,-0.027255],[-0.007311,-0.045100,0.998956]] 2025-10-27T04:05:52.356Z,1761537952.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:52.745Z,1761537952.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719001,-0.694043,-0.036638],[0.694970,-0.718519,-0.027329],[-0.007358,-0.045112,0.998955]] 2025-10-27T04:05:52.781Z,1761537952.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:53.146Z,1761537953.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720832,-0.692146,-0.036528],[0.693071,-0.720347,-0.027440],[-0.007320,-0.045096,0.998956]] 2025-10-27T04:05:53.172Z,1761537953.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:53.557Z,1761537953.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722700,-0.690203,-0.036383],[0.691124,-0.722208,-0.027640],[-0.007199,-0.045120,0.998956]] 2025-10-27T04:05:53.600Z,1761537953.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:53.954Z,1761537953.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724542,-0.688277,-0.036238],[0.689195,-0.724041,-0.027860],[-0.007062,-0.045161,0.998955]] 2025-10-27T04:05:53.979Z,1761537953.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:54.362Z,1761537954.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726214,-0.686528,-0.035951],[0.687435,-0.725707,-0.027982],[-0.006880,-0.045035,0.998962]] 2025-10-27T04:05:54.392Z,1761537954.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:54.762Z,1761537954.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727782,-0.684889,-0.035516],[0.685777,-0.727270,-0.028074],[-0.006602,-0.044787,0.998975]] 2025-10-27T04:05:54.810Z,1761537954.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:55.165Z,1761537955.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729057,-0.683536,-0.035417],[0.684422,-0.728543,-0.028137],[-0.006570,-0.044753,0.998976]] 2025-10-27T04:05:55.183Z,1761537955.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:55.583Z,1761537955.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730220,-0.682296,-0.035357],[0.683181,-0.729701,-0.028295],[-0.006494,-0.044816,0.998974]] 2025-10-27T04:05:55.631Z,1761537955.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:55.974Z,1761537955.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731122,-0.681322,-0.035515],[0.682215,-0.730598,-0.028434],[-0.006574,-0.045017,0.998965]] 2025-10-27T04:05:56.003Z,1761537956.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:56.385Z,1761537956.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731647,-0.680760,-0.035477],[0.681652,-0.731126,-0.028394],[-0.006609,-0.044957,0.998967]] 2025-10-27T04:05:56.420Z,1761537956.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:56.787Z,1761537956.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731791,-0.680592,-0.035732],[0.681494,-0.731277,-0.028263],[-0.006894,-0.045033,0.998962]] 2025-10-27T04:05:56.839Z,1761537956.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:57.187Z,1761537957.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731641,-0.680740,-0.035981],[0.681652,-0.731142,-0.027960],[-0.007274,-0.044983,0.998961]] 2025-10-27T04:05:57.205Z,1761537957.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:57.611Z,1761537957.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731435,-0.680937,-0.036442],[0.681867,-0.730949,-0.027756],[-0.007738,-0.045151,0.998950]] 2025-10-27T04:05:57.672Z,1761537957.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:57.994Z,1761537957.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730728,-0.681676,-0.036814],[0.682618,-0.730268,-0.027214],[-0.008334,-0.045016,0.998951]] 2025-10-27T04:05:58.028Z,1761537958.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:58.399Z,1761537958.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729995,-0.682430,-0.037367],[0.683394,-0.729558,-0.026810],[-0.008966,-0.045107,0.998942]] 2025-10-27T04:05:58.418Z,1761537958.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:58.804Z,1761537958.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729228,-0.683219,-0.037929],[0.684203,-0.728814,-0.026375],[-0.009624,-0.045185,0.998932]] 2025-10-27T04:05:58.841Z,1761537958.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:59.206Z,1761537959.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728666,-0.683794,-0.038371],[0.684795,-0.728269,-0.026078],[-0.010113,-0.045278,0.998923]] 2025-10-27T04:05:59.235Z,1761537959.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:05:59.563Z,1761537959.563 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:05:59.650Z,1761537959.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728118,-0.684354,-0.038773],[0.685370,-0.727737,-0.025803],[-0.010558,-0.045362,0.998915]] 2025-10-27T04:05:59.710Z,1761537959.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:00.013Z,1761537960.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727613,-0.684871,-0.039136],[0.685899,-0.727250,-0.025478],[-0.011012,-0.045381,0.998909]] 2025-10-27T04:06:00.032Z,1761537960.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:00.420Z,1761537960.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727347,-0.685146,-0.039265],[0.686177,-0.726997,-0.025213],[-0.011271,-0.045282,0.998911]] 2025-10-27T04:06:00.437Z,1761537960.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:06:00.439Z,1761537960.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:00.560Z,1761537960.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:06:00.560Z,1761537960.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:06:00.573Z,1761537960.573 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:06:00.812Z,1761537960.812 [DAT](INFO): DAT read: 2025-10-27T04:06:00.812Z,1761537960.812 [DAT](INFO): DAT read: Tx time:04:05:59.8811 2025-10-27T04:06:00.813Z,1761537960.813 [DAT](INFO): Ping request sent. 2025-10-27T04:06:00.813Z,1761537960.813 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:06:00.813Z,1761537960.813 [DAT](INFO): publishing transmit ping time 2025-10-27T04:06:00.814Z,1761537960.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-27T04:06:00.825Z,1761537960.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727330,-0.685160,-0.039338],[0.686194,-0.726983,-0.025177],[-0.011348,-0.045305,0.998909]] 2025-10-27T04:06:00.914Z,1761537960.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:01.064Z,1761537961.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251024 2025-10-27T04:06:01.225Z,1761537961.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727414,-0.685078,-0.039215],[0.686106,-0.727068,-0.025107],[-0.011312,-0.045169,0.998915]] 2025-10-27T04:06:01.271Z,1761537961.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:01.317Z,1761537961.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503917 2025-10-27T04:06:01.568Z,1761537961.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755026 2025-10-27T04:06:01.677Z,1761537961.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727811,-0.684669,-0.038986],[0.685688,-0.727458,-0.025230],[-0.011087,-0.045094,0.998921]] 2025-10-27T04:06:01.742Z,1761537961.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:01.822Z,1761537961.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008786 2025-10-27T04:06:02.035Z,1761537962.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728663,-0.683787,-0.038546],[0.684792,-0.728287,-0.025663],[-0.010524,-0.045096,0.998927]] 2025-10-27T04:06:02.059Z,1761537962.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:02.072Z,1761537962.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259176 2025-10-27T04:06:02.324Z,1761537962.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511058 2025-10-27T04:06:02.438Z,1761537962.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729536,-0.682872,-0.038252],[0.683869,-0.729134,-0.026190],[-0.010006,-0.045266,0.998925]] 2025-10-27T04:06:02.470Z,1761537962.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:02.576Z,1761537962.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763183 2025-10-27T04:06:02.828Z,1761537962.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015035 2025-10-27T04:06:02.843Z,1761537962.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730545,-0.681834,-0.037510],[0.682802,-0.730119,-0.026593],[-0.009255,-0.045039,0.998942]] 2025-10-27T04:06:02.908Z,1761537962.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:03.080Z,1761537963.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267060 2025-10-27T04:06:03.245Z,1761537963.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732177,-0.680120,-0.036810],[0.681066,-0.731704,-0.027548],[-0.008198,-0.045240,0.998943]] 2025-10-27T04:06:03.274Z,1761537963.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:03.333Z,1761537963.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519894 2025-10-27T04:06:03.584Z,1761537963.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771079 2025-10-27T04:06:03.706Z,1761537963.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733688,-0.678538,-0.035886],[0.679450,-0.733175,-0.028334],[-0.007085,-0.045171,0.998954]] 2025-10-27T04:06:03.747Z,1761537963.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:03.836Z,1761537963.836 [DAT](INFO): DAT read: Rx Time:04:06:02.3504 2025-10-27T04:06:03.836Z,1761537963.836 [DAT](INFO): Rx dataTimestamp_ set to:1761537963.836200 2025-10-27T04:06:03.837Z,1761537963.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024200 2025-10-27T04:06:04.054Z,1761537964.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735091,-0.677070,-0.034896],[0.677942,-0.734539,-0.029087],[-0.005939,-0.045039,0.998968]] 2025-10-27T04:06:04.086Z,1761537964.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.61 m. 2025-10-27T04:06:04.088Z,1761537964.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275178 2025-10-27T04:06:04.346Z,1761537964.346 [DAT](INFO): DAT read: 04:06:02.3504 LVL= 25552, 19921, 32754, 32755, AGC= 60, IDX= 328, 0.19, 0.025, 1.053,-0.773, 0.535, PHS=-0.409, 0.562,-1.353, RAW= 359.5, 14.3, CAL= 0.0, 17.7, ROT= 150.0, -17.7 2025-10-27T04:06:04.352Z,1761537964.352 [DAT](INFO): got valid direction response: 04:06:02.3504 LVL= 25552, 19921, 32754, 32755, AGC= 60, IDX= 328, 0.19, 0.025, 1.053,-0.773, 0.535, PHS=-0.409, 0.562,-1.353, RAW= 359.5, 14.3, CAL= 0.0, 17.7, ROT= 150.0, -17.7 2025-10-27T04:06:04.354Z,1761537964.354 [DAT](INFO): DAT read: Bearing 91.7, 27.5 (Local) 2025-10-27T04:06:04.354Z,1761537964.354 [DAT](INFO): Local bearing/azimuth received: Bearing 91.7, 27.5 (Local) 2025-10-27T04:06:04.356Z,1761537964.356 [DAT](INFO): DAT read: Range 11 to 50 : 48.9 m (Round-trip 65.2 ms) speed -0.2 m/s 2025-10-27T04:06:04.358Z,1761537964.358 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:06:04.359Z,1761537964.359 [DAT](INFO): direction in FSK: [-0.825029,0.476331,0.304033] 2025-10-27T04:06:04.359Z,1761537964.359 [DAT](INFO): publishing direction and range info 2025-10-27T04:06:04.458Z,1761537964.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736835,-0.675226,-0.033827],[0.676058,-0.736230,-0.030188],[-0.004521,-0.045113,0.998972]] 2025-10-27T04:06:04.509Z,1761537964.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.900002 m, deltaT: 60.244056 s, deltaX: 6.100002 m, approachRate: 0.101255 m/s, rangeRepo size: 4 2025-10-27T04:06:04.515Z,1761537964.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.683357 m, bearing: 286.739570 deg, lat: 36.779412 deg, lon: -121.859522 deg, deltaT: 60.244056 s, deltaX: 6.070805 m, approachRate: 0.100770 m/s, posRepo size: 4 2025-10-27T04:06:04.516Z,1761537964.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:04.870Z,1761537964.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738469,-0.673497,-0.032637],[0.674280,-0.737816,-0.031197],[-0.003069,-0.045044,0.998980]] 2025-10-27T04:06:04.914Z,1761537964.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:05.266Z,1761537965.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740056,-0.671802,-0.031606],[0.672543,-0.739355,-0.032254],[-0.001699,-0.045126,0.998980]] 2025-10-27T04:06:05.284Z,1761537965.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:05.728Z,1761537965.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741609,-0.670140,-0.030474],[0.670833,-0.740862,-0.033276],[-0.000277,-0.045121,0.998981]] 2025-10-27T04:06:05.764Z,1761537965.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:06.083Z,1761537966.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743093,-0.668541,-0.029434],[0.669187,-0.742302,-0.034288],[0.001074,-0.045176,0.998978]] 2025-10-27T04:06:06.101Z,1761537966.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:06.485Z,1761537966.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744357,-0.667179,-0.028354],[0.667777,-0.743531,-0.035145],[0.002366,-0.045095,0.998980]] 2025-10-27T04:06:06.515Z,1761537966.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:06.945Z,1761537966.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:07.294Z,1761537967.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746778,-0.664544,-0.026550],[0.665057,-0.745885,-0.036807],[0.004657,-0.045144,0.998970]] 2025-10-27T04:06:07.322Z,1761537967.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:07.749Z,1761537967.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747938,-0.663267,-0.025788],[0.663744,-0.747014,-0.037601],[0.005675,-0.045240,0.998960]] 2025-10-27T04:06:07.796Z,1761537967.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:08.102Z,1761537968.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748775,-0.662347,-0.025152],[0.662793,-0.747833,-0.038087],[0.006417,-0.045189,0.998958]] 2025-10-27T04:06:08.121Z,1761537968.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:08.505Z,1761537968.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749372,-0.661690,-0.024646],[0.662113,-0.748424,-0.038313],[0.006905,-0.045029,0.998962]] 2025-10-27T04:06:08.524Z,1761537968.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:08.912Z,1761537968.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749856,-0.661150,-0.024425],[0.661563,-0.748904,-0.038428],[0.007114,-0.044974,0.998963]] 2025-10-27T04:06:08.954Z,1761537968.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:09.313Z,1761537969.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750077,-0.660898,-0.024467],[0.661314,-0.749132,-0.038283],[0.006972,-0.044896,0.998967]] 2025-10-27T04:06:09.352Z,1761537969.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:09.738Z,1761537969.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750210,-0.660739,-0.024655],[0.661166,-0.749276,-0.038013],[0.006643,-0.044819,0.998973]] 2025-10-27T04:06:09.806Z,1761537969.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:10.122Z,1761537970.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750275,-0.660648,-0.025111],[0.661097,-0.749352,-0.037703],[0.006092,-0.044888,0.998973]] 2025-10-27T04:06:10.181Z,1761537970.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:10.527Z,1761537970.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750292,-0.660601,-0.025854],[0.661086,-0.749384,-0.037260],[0.005239,-0.045048,0.998971]] 2025-10-27T04:06:10.545Z,1761537970.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:10.929Z,1761537970.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750019,-0.660884,-0.026547],[0.661403,-0.749145,-0.036440],[0.004195,-0.044889,0.998983]] 2025-10-27T04:06:10.976Z,1761537970.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:11.334Z,1761537971.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749908,-0.660970,-0.027496],[0.661535,-0.749065,-0.035675],[0.002984,-0.044943,0.998985]] 2025-10-27T04:06:11.383Z,1761537971.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:11.743Z,1761537971.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749804,-0.661044,-0.028551],[0.661658,-0.748998,-0.034786],[0.001610,-0.044973,0.998987]] 2025-10-27T04:06:11.823Z,1761537971.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:12.142Z,1761537972.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749540,-0.661296,-0.029625],[0.661959,-0.748783,-0.033685],[0.000093,-0.044858,0.998993]] 2025-10-27T04:06:12.180Z,1761537972.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:12.545Z,1761537972.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749330,-0.661476,-0.030881],[0.662195,-0.748625,-0.032544],[-0.001591,-0.044835,0.998993]] 2025-10-27T04:06:12.576Z,1761537972.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:12.949Z,1761537972.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749049,-0.661725,-0.032328],[0.662505,-0.748401,-0.031350],[-0.003449,-0.044900,0.998986]] 2025-10-27T04:06:13.000Z,1761537973.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:13.364Z,1761537973.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748968,-0.661750,-0.033690],[0.662586,-0.748379,-0.030156],[-0.005257,-0.044909,0.998977]] 2025-10-27T04:06:13.403Z,1761537973.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:13.758Z,1761537973.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749190,-0.661429,-0.035019],[0.662319,-0.748654,-0.029174],[-0.006921,-0.045050,0.998961]] 2025-10-27T04:06:13.844Z,1761537973.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:14.161Z,1761537974.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749321,-0.661208,-0.036354],[0.662149,-0.748849,-0.027977],[-0.008725,-0.045035,0.998947]] 2025-10-27T04:06:14.205Z,1761537974.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:14.565Z,1761537974.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749761,-0.660640,-0.037598],[0.661628,-0.749348,-0.026960],[-0.010363,-0.045090,0.998929]] 2025-10-27T04:06:14.607Z,1761537974.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:14.973Z,1761537974.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750224,-0.660051,-0.038676],[0.661075,-0.749875,-0.025833],[-0.011951,-0.044949,0.998918]] 2025-10-27T04:06:15.010Z,1761537975.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:15.380Z,1761537975.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750713,-0.659434,-0.039705],[0.660490,-0.750429,-0.024685],[-0.013518,-0.044756,0.998906]] 2025-10-27T04:06:15.413Z,1761537975.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:15.777Z,1761537975.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751497,-0.658474,-0.040784],[0.659566,-0.751270,-0.023783],[-0.014980,-0.044773,0.998885]] 2025-10-27T04:06:15.825Z,1761537975.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:16.184Z,1761537976.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752548,-0.657218,-0.041656],[0.658338,-0.752368,-0.023083],[-0.016170,-0.044795,0.998865]] 2025-10-27T04:06:16.221Z,1761537976.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:16.586Z,1761537976.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753676,-0.655870,-0.042518],[0.657018,-0.753542,-0.022410],[-0.017341,-0.044825,0.998844]] 2025-10-27T04:06:16.610Z,1761537976.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:16.993Z,1761537976.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755075,-0.654224,-0.043033],[0.655387,-0.754976,-0.021895],[-0.018165,-0.044735,0.998834]] 2025-10-27T04:06:17.044Z,1761537977.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:17.439Z,1761537977.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756527,-0.652511,-0.043552],[0.653689,-0.756459,-0.021467],[-0.018937,-0.044710,0.998820]] 2025-10-27T04:06:17.458Z,1761537977.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:17.908Z,1761537977.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:18.202Z,1761537978.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759504,-0.648992,-0.044291],[0.650190,-0.759487,-0.020800],[-0.020139,-0.044595,0.998802]] 2025-10-27T04:06:18.245Z,1761537978.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:18.606Z,1761537978.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761132,-0.647067,-0.044517],[0.648273,-0.761126,-0.020702],[-0.020488,-0.044616,0.998794]] 2025-10-27T04:06:18.647Z,1761537978.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:19.010Z,1761537979.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762654,-0.645265,-0.044637],[0.646474,-0.762658,-0.020606],[-0.020747,-0.044572,0.998791]] 2025-10-27T04:06:19.070Z,1761537979.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:19.417Z,1761537979.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764091,-0.643550,-0.044829],[0.644767,-0.764101,-0.020601],[-0.020996,-0.044645,0.998782]] 2025-10-27T04:06:19.446Z,1761537979.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:19.818Z,1761537979.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765425,-0.641959,-0.044871],[0.643178,-0.765440,-0.020580],[-0.021134,-0.044612,0.998781]] 2025-10-27T04:06:19.902Z,1761537979.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:20.276Z,1761537980.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:20.627Z,1761537980.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768115,-0.638744,-0.044777],[0.639966,-0.768119,-0.020903],[-0.021042,-0.044711,0.998778]] 2025-10-27T04:06:20.648Z,1761537980.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:21.030Z,1761537981.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769458,-0.637130,-0.044723],[0.638356,-0.769450,-0.021194],[-0.020909,-0.044857,0.998775]] 2025-10-27T04:06:21.078Z,1761537981.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:21.434Z,1761537981.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770389,-0.636014,-0.044573],[0.637232,-0.770380,-0.021196],[-0.020857,-0.044732,0.998781]] 2025-10-27T04:06:21.452Z,1761537981.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:21.845Z,1761537981.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771474,-0.634713,-0.044345],[0.635928,-0.771449,-0.021502],[-0.020563,-0.044788,0.998785]] 2025-10-27T04:06:21.870Z,1761537981.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:22.243Z,1761537982.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772308,-0.633728,-0.043926],[0.634927,-0.772269,-0.021634],[-0.020212,-0.044598,0.998801]] 2025-10-27T04:06:22.288Z,1761537982.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:22.645Z,1761537982.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773133,-0.632722,-0.043900],[0.633926,-0.773083,-0.021928],[-0.020064,-0.044782,0.998795]] 2025-10-27T04:06:22.672Z,1761537982.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:23.050Z,1761537983.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773884,-0.631824,-0.043607],[0.633021,-0.773815,-0.022238],[-0.019693,-0.044814,0.998801]] 2025-10-27T04:06:23.090Z,1761537983.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:23.453Z,1761537983.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774532,-0.631043,-0.043419],[0.632238,-0.774445,-0.022569],[-0.019384,-0.044932,0.998802]] 2025-10-27T04:06:23.486Z,1761537983.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:23.863Z,1761537983.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775136,-0.630334,-0.042919],[0.631512,-0.775030,-0.022837],[-0.018869,-0.044805,0.998818]] 2025-10-27T04:06:23.893Z,1761537983.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:24.263Z,1761537984.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775683,-0.629691,-0.042498],[0.630855,-0.775555,-0.023144],[-0.018386,-0.044763,0.998828]] 2025-10-27T04:06:24.319Z,1761537984.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:24.665Z,1761537984.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776207,-0.629075,-0.042042],[0.630225,-0.776058,-0.023453],[-0.017873,-0.044700,0.998841]] 2025-10-27T04:06:24.708Z,1761537984.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:25.069Z,1761537985.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776767,-0.628409,-0.041649],[0.629549,-0.776595,-0.023863],[-0.017349,-0.044755,0.998847]] 2025-10-27T04:06:25.121Z,1761537985.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:25.474Z,1761537985.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777316,-0.627755,-0.041275],[0.628886,-0.777118,-0.024303],[-0.016819,-0.044848,0.998852]] 2025-10-27T04:06:25.499Z,1761537985.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:25.880Z,1761537985.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777758,-0.627237,-0.040811],[0.628354,-0.777535,-0.024717],[-0.016228,-0.044868,0.998861]] 2025-10-27T04:06:25.899Z,1761537985.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:26.282Z,1761537986.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778239,-0.626677,-0.040257],[0.627777,-0.777985,-0.025210],[-0.015520,-0.044892,0.998871]] 2025-10-27T04:06:26.341Z,1761537986.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:26.745Z,1761537986.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:27.092Z,1761537987.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778927,-0.625897,-0.039060],[0.626956,-0.778620,-0.026029],[-0.014121,-0.044764,0.998898]] 2025-10-27T04:06:27.135Z,1761537987.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:27.493Z,1761537987.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779218,-0.625570,-0.038482],[0.626608,-0.778886,-0.026429],[-0.013440,-0.044707,0.998910]] 2025-10-27T04:06:27.536Z,1761537987.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:27.897Z,1761537987.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779525,-0.625224,-0.037889],[0.626242,-0.779163,-0.026938],[-0.012680,-0.044726,0.998919]] 2025-10-27T04:06:27.921Z,1761537987.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:28.304Z,1761537988.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779924,-0.624762,-0.037300],[0.625762,-0.779528,-0.027549],[-0.011865,-0.044827,0.998924]] 2025-10-27T04:06:28.374Z,1761537988.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:28.721Z,1761537988.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780532,-0.624068,-0.036163],[0.625030,-0.780074,-0.028665],[-0.010320,-0.044977,0.998935]] 2025-10-27T04:06:28.741Z,1761537988.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:29.164Z,1761537989.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:29.526Z,1761537989.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781274,-0.623212,-0.034885],[0.624128,-0.780752,-0.029836],[-0.008643,-0.045083,0.998946]] 2025-10-27T04:06:29.545Z,1761537989.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:29.924Z,1761537989.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781750,-0.622655,-0.034177],[0.623544,-0.781197,-0.030401],[-0.007770,-0.045076,0.998953]] 2025-10-27T04:06:29.942Z,1761537989.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:30.336Z,1761537990.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782163,-0.622173,-0.033502],[0.623035,-0.781585,-0.030865],[-0.006981,-0.045014,0.998962]] 2025-10-27T04:06:30.378Z,1761537990.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:30.716Z,1761537990.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:06:30.733Z,1761537990.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782718,-0.621511,-0.032817],[0.622346,-0.782112,-0.031399],[-0.006152,-0.045000,0.998968]] 2025-10-27T04:06:30.771Z,1761537990.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:31.183Z,1761537991.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:31.540Z,1761537991.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784157,-0.619761,-0.031525],[0.620545,-0.783495,-0.032538],[-0.004534,-0.045077,0.998973]] 2025-10-27T04:06:31.558Z,1761537991.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:31.720Z,1761537991.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:06:31.938Z,1761537991.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784954,-0.618791,-0.030742],[0.619544,-0.784267,-0.033034],[-0.003669,-0.044977,0.998981]] 2025-10-27T04:06:31.970Z,1761537991.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:32.352Z,1761537992.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785774,-0.617776,-0.030195],[0.618506,-0.785066,-0.033499],[-0.003011,-0.044998,0.998982]] 2025-10-27T04:06:32.397Z,1761537992.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:32.745Z,1761537992.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786831,-0.616458,-0.029592],[0.617164,-0.786096,-0.034090],[-0.002247,-0.045086,0.998981]] 2025-10-27T04:06:32.768Z,1761537992.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:33.158Z,1761537993.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788000,-0.615000,-0.028809],[0.615673,-0.787240,-0.034646],[-0.001373,-0.045038,0.998984]] 2025-10-27T04:06:33.194Z,1761537993.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:33.553Z,1761537993.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789059,-0.613667,-0.028271],[0.614317,-0.788283,-0.035001],[-0.000806,-0.044986,0.998987]] 2025-10-27T04:06:33.583Z,1761537993.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:33.957Z,1761537993.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790318,-0.612075,-0.027597],[0.612696,-0.789527,-0.035360],[-0.000145,-0.044854,0.998994]] 2025-10-27T04:06:33.996Z,1761537993.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:34.364Z,1761537994.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791551,-0.610498,-0.027174],[0.611103,-0.790747,-0.035681],[0.000296,-0.044849,0.998994]] 2025-10-27T04:06:34.418Z,1761537994.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:34.768Z,1761537994.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792801,-0.608887,-0.026893],[0.609481,-0.791984,-0.035985],[0.000612,-0.044920,0.998990]] 2025-10-27T04:06:34.790Z,1761537994.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:35.184Z,1761537995.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793971,-0.607370,-0.026695],[0.607955,-0.793145,-0.036203],[0.000816,-0.044973,0.998988]] 2025-10-27T04:06:35.220Z,1761537995.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:35.573Z,1761537995.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794893,-0.606171,-0.026471],[0.606748,-0.794071,-0.036170],[0.000906,-0.044812,0.998995]] 2025-10-27T04:06:35.592Z,1761537995.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:35.978Z,1761537995.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795698,-0.605114,-0.026491],[0.605693,-0.794881,-0.036065],[0.000766,-0.044742,0.998998]] 2025-10-27T04:06:35.996Z,1761537995.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:36.383Z,1761537996.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796482,-0.604071,-0.026729],[0.604662,-0.795667,-0.036017],[0.000489,-0.044849,0.998994]] 2025-10-27T04:06:36.426Z,1761537996.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:36.789Z,1761537996.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797040,-0.603319,-0.027067],[0.603926,-0.796238,-0.035749],[0.000016,-0.044840,0.998994]] 2025-10-27T04:06:36.831Z,1761537996.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:37.209Z,1761537997.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797561,-0.602607,-0.027581],[0.603238,-0.796770,-0.035510],[-0.000577,-0.044959,0.998989]] 2025-10-27T04:06:37.252Z,1761537997.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:37.599Z,1761537997.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797669,-0.602432,-0.028292],[0.603094,-0.796903,-0.034986],[-0.001470,-0.044970,0.998987]] 2025-10-27T04:06:37.617Z,1761537997.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:37.998Z,1761537997.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797634,-0.602439,-0.029107],[0.603136,-0.796899,-0.034336],[-0.002510,-0.044943,0.998986]] 2025-10-27T04:06:38.022Z,1761537998.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:38.402Z,1761537998.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797449,-0.602642,-0.029964],[0.603376,-0.796750,-0.033572],[-0.003642,-0.044851,0.998987]] 2025-10-27T04:06:38.449Z,1761537998.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:38.805Z,1761537998.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797074,-0.603085,-0.031020],[0.603861,-0.796419,-0.032685],[-0.004993,-0.044784,0.998984]] 2025-10-27T04:06:38.859Z,1761537998.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:39.238Z,1761537999.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796807,-0.603372,-0.032275],[0.604200,-0.796192,-0.031946],[-0.006421,-0.044955,0.998968]] 2025-10-27T04:06:39.282Z,1761537999.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:39.614Z,1761537999.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796389,-0.603858,-0.033470],[0.604733,-0.795823,-0.031026],[-0.007901,-0.044949,0.998958]] 2025-10-27T04:06:39.648Z,1761537999.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:40.017Z,1761538000.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796033,-0.604259,-0.034677],[0.605181,-0.795517,-0.030158],[-0.009363,-0.044992,0.998944]] 2025-10-27T04:06:40.048Z,1761538000.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:40.422Z,1761538000.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795691,-0.604636,-0.035932],[0.605605,-0.795227,-0.029255],[-0.010886,-0.045038,0.998926]] 2025-10-27T04:06:40.476Z,1761538000.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:40.842Z,1761538000.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795371,-0.604980,-0.037207],[0.605996,-0.794962,-0.028371],[-0.012414,-0.045113,0.998905]] 2025-10-27T04:06:40.861Z,1761538000.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:41.265Z,1761538001.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795163,-0.605182,-0.038347],[0.606239,-0.794806,-0.027540],[-0.013812,-0.045146,0.998885]] 2025-10-27T04:06:41.320Z,1761538001.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:41.634Z,1761538001.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794860,-0.605515,-0.039363],[0.606602,-0.794564,-0.026494],[-0.015234,-0.044937,0.998874]] 2025-10-27T04:06:41.676Z,1761538001.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:42.038Z,1761538002.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794821,-0.605494,-0.040446],[0.606617,-0.794579,-0.025695],[-0.016580,-0.044958,0.998851]] 2025-10-27T04:06:42.065Z,1761538002.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:42.446Z,1761538002.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794951,-0.605256,-0.041455],[0.606412,-0.794756,-0.025031],[-0.017796,-0.045037,0.998827]] 2025-10-27T04:06:42.483Z,1761538002.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:42.850Z,1761538002.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795291,-0.604754,-0.042244],[0.605937,-0.795135,-0.024511],[-0.018766,-0.045091,0.998807]] 2025-10-27T04:06:42.885Z,1761538002.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:43.286Z,1761538003.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795689,-0.604186,-0.042880],[0.605388,-0.795569,-0.023985],[-0.019623,-0.045044,0.998792]] 2025-10-27T04:06:43.360Z,1761538003.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:43.660Z,1761538003.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796191,-0.603479,-0.043520],[0.604701,-0.796104,-0.023570],[-0.020423,-0.045083,0.998775]] 2025-10-27T04:06:43.680Z,1761538003.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:44.060Z,1761538004.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796865,-0.602559,-0.043917],[0.603793,-0.796802,-0.023254],[-0.020981,-0.045047,0.998765]] 2025-10-27T04:06:44.078Z,1761538004.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:44.462Z,1761538004.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797707,-0.601429,-0.044117],[0.602668,-0.797659,-0.023066],[-0.021317,-0.044988,0.998760]] 2025-10-27T04:06:44.511Z,1761538004.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:44.865Z,1761538004.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798699,-0.600118,-0.044013],[0.601352,-0.798653,-0.023021],[-0.021335,-0.044854,0.998766]] 2025-10-27T04:06:44.884Z,1761538004.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:45.301Z,1761538005.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799873,-0.598554,-0.043998],[0.599790,-0.799823,-0.023159],[-0.021329,-0.044913,0.998763]] 2025-10-27T04:06:45.374Z,1761538005.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:45.677Z,1761538005.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800944,-0.597131,-0.043840],[0.598363,-0.800887,-0.023280],[-0.021210,-0.044879,0.998767]] 2025-10-27T04:06:45.731Z,1761538005.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:46.078Z,1761538006.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801966,-0.595773,-0.043635],[0.596998,-0.801901,-0.023408],[-0.021045,-0.044823,0.998773]] 2025-10-27T04:06:46.107Z,1761538006.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:46.482Z,1761538006.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803053,-0.594339,-0.043216],[0.595550,-0.802970,-0.023637],[-0.020653,-0.044719,0.998786]] 2025-10-27T04:06:46.530Z,1761538006.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:46.886Z,1761538006.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804305,-0.592671,-0.042840],[0.593875,-0.804196,-0.024104],[-0.020166,-0.044828,0.998791]] 2025-10-27T04:06:46.911Z,1761538006.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:47.311Z,1761538007.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805431,-0.591181,-0.042254],[0.592368,-0.805294,-0.024529],[-0.019526,-0.044787,0.998806]] 2025-10-27T04:06:47.378Z,1761538007.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:47.697Z,1761538007.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806540,-0.589707,-0.041708],[0.590878,-0.806373,-0.025017],[-0.018879,-0.044822,0.998817]] 2025-10-27T04:06:47.750Z,1761538007.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:48.098Z,1761538008.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807532,-0.588389,-0.041117],[0.589542,-0.807336,-0.025455],[-0.018218,-0.044796,0.998830]] 2025-10-27T04:06:48.117Z,1761538008.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:48.501Z,1761538008.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808465,-0.587156,-0.040402],[0.588286,-0.808237,-0.025919],[-0.017436,-0.044723,0.998847]] 2025-10-27T04:06:48.555Z,1761538008.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:48.908Z,1761538008.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809185,-0.586211,-0.039697],[0.587317,-0.808929,-0.026309],[-0.016689,-0.044604,0.998865]] 2025-10-27T04:06:48.926Z,1761538008.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:49.328Z,1761538009.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809849,-0.585343,-0.038952],[0.586423,-0.809563,-0.026753],[-0.015875,-0.044508,0.998883]] 2025-10-27T04:06:49.399Z,1761538009.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:49.719Z,1761538009.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810581,-0.584369,-0.038358],[0.585433,-0.810259,-0.027376],[-0.015082,-0.044646,0.998889]] 2025-10-27T04:06:49.765Z,1761538009.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:50.118Z,1761538010.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811189,-0.583577,-0.037558],[0.584612,-0.810832,-0.027920],[-0.014160,-0.044605,0.998904]] 2025-10-27T04:06:50.144Z,1761538010.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:50.523Z,1761538010.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811652,-0.582972,-0.036954],[0.583988,-0.811263,-0.028455],[-0.013391,-0.044676,0.998912]] 2025-10-27T04:06:50.566Z,1761538010.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:50.926Z,1761538010.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811987,-0.582547,-0.036288],[0.583540,-0.811569,-0.028918],[-0.012604,-0.044657,0.998923]] 2025-10-27T04:06:50.957Z,1761538010.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:51.340Z,1761538011.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812258,-0.582204,-0.035705],[0.583178,-0.811812,-0.029425],[-0.011854,-0.044723,0.998929]] 2025-10-27T04:06:51.423Z,1761538011.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:51.752Z,1761538011.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812333,-0.582128,-0.035251],[0.583085,-0.811862,-0.029845],[-0.011245,-0.044799,0.998933]] 2025-10-27T04:06:51.852Z,1761538011.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:52.137Z,1761538012.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812404,-0.582062,-0.034695],[0.582999,-0.811909,-0.030255],[-0.010559,-0.044807,0.998940]] 2025-10-27T04:06:52.180Z,1761538012.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:52.542Z,1761538012.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812445,-0.582039,-0.034116],[0.582955,-0.811924,-0.030703],[-0.009830,-0.044833,0.998946]] 2025-10-27T04:06:52.600Z,1761538012.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:52.947Z,1761538012.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812424,-0.582099,-0.033591],[0.582995,-0.811881,-0.031087],[-0.009176,-0.044839,0.998952]] 2025-10-27T04:06:52.965Z,1761538012.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:53.349Z,1761538013.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812163,-0.582479,-0.033313],[0.583365,-0.811606,-0.031325],[-0.008791,-0.044874,0.998954]] 2025-10-27T04:06:53.396Z,1761538013.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:53.754Z,1761538013.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811906,-0.582863,-0.032858],[0.583730,-0.811333,-0.031590],[-0.008246,-0.044828,0.998961]] 2025-10-27T04:06:53.802Z,1761538013.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:54.157Z,1761538014.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811697,-0.583173,-0.032510],[0.584027,-0.811107,-0.031912],[-0.007759,-0.044889,0.998962]] 2025-10-27T04:06:54.203Z,1761538014.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:54.564Z,1761538014.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811515,-0.583441,-0.032254],[0.584286,-0.810906,-0.032270],[-0.007327,-0.045033,0.998959]] 2025-10-27T04:06:54.600Z,1761538014.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:54.966Z,1761538014.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811276,-0.583786,-0.032004],[0.584622,-0.810654,-0.032520],[-0.006960,-0.045093,0.998959]] 2025-10-27T04:06:54.998Z,1761538014.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:55.370Z,1761538015.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811101,-0.584045,-0.031705],[0.584869,-0.810461,-0.032866],[-0.006501,-0.045201,0.998957]] 2025-10-27T04:06:55.456Z,1761538015.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:55.776Z,1761538015.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810708,-0.584604,-0.031482],[0.585418,-0.810062,-0.032944],[-0.006244,-0.045138,0.998961]] 2025-10-27T04:06:55.845Z,1761538015.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:55.845Z,1761538015.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 48.90 m and bearing: 282.196907 deg. Not drifting fast enough. 2025-10-27T04:06:56.180Z,1761538016.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810493,-0.584908,-0.031350],[0.585717,-0.809837,-0.033164],[-0.005990,-0.045241,0.998958]] 2025-10-27T04:06:56.198Z,1761538016.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:56.204Z,1761538016.204 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T04:06:56.204Z,1761538016.204 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T04:06:56.204Z,1761538016.204 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T04:06:56.204Z,1761538016.204 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T04:06:56.581Z,1761538016.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810169,-0.585369,-0.031135],[0.586168,-0.809509,-0.033203],[-0.005768,-0.045150,0.998964]] 2025-10-27T04:06:56.631Z,1761538016.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:57.038Z,1761538017.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810010,-0.585598,-0.030966],[0.586390,-0.809343,-0.033334],[-0.005542,-0.045159,0.998964]] 2025-10-27T04:06:57.109Z,1761538017.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:57.390Z,1761538017.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809973,-0.585657,-0.030831],[0.586443,-0.809297,-0.033506],[-0.005328,-0.045219,0.998963]] 2025-10-27T04:06:57.409Z,1761538017.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:57.802Z,1761538017.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809956,-0.585697,-0.030504],[0.586469,-0.809277,-0.033527],[-0.005049,-0.045045,0.998972]] 2025-10-27T04:06:57.819Z,1761538017.819 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 93.51, 89.77, 89.09 2025-10-27T04:06:57.860Z,1761538017.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:58.198Z,1761538018.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810016,-0.585621,-0.030376],[0.586388,-0.809333,-0.033608],[-0.004903,-0.045035,0.998973]] 2025-10-27T04:06:58.230Z,1761538018.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:58.602Z,1761538018.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810356,-0.585155,-0.030272],[0.585919,-0.809661,-0.033879],[-0.004685,-0.045191,0.998967]] 2025-10-27T04:06:58.645Z,1761538018.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:59.005Z,1761538019.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810701,-0.584687,-0.030089],[0.585444,-0.810001,-0.033975],[-0.004508,-0.045159,0.998970]] 2025-10-27T04:06:59.024Z,1761538019.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:59.411Z,1761538019.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811231,-0.583956,-0.029974],[0.584709,-0.810524,-0.034150],[-0.004352,-0.045230,0.998967]] 2025-10-27T04:06:59.429Z,1761538019.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:06:59.828Z,1761538019.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811805,-0.583176,-0.029634],[0.583914,-0.811094,-0.034217],[-0.004081,-0.045081,0.998975]] 2025-10-27T04:06:59.866Z,1761538019.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:00.218Z,1761538020.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812387,-0.582355,-0.029831],[0.583104,-0.811664,-0.034516],[-0.004112,-0.045435,0.998959]] 2025-10-27T04:07:00.255Z,1761538020.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:00.622Z,1761538020.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812225,-0.582406,-0.033069],[0.583320,-0.811404,-0.036903],[-0.005340,-0.049263,0.998772]] 2025-10-27T04:07:00.673Z,1761538020.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:07:00.674Z,1761538020.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:00.818Z,1761538020.818 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:07:00.818Z,1761538020.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:07:01.027Z,1761538021.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811715,-0.582502,-0.042531],[0.584010,-0.810388,-0.046950],[-0.007119,-0.062948,0.997991]] 2025-10-27T04:07:01.046Z,1761538021.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:01.068Z,1761538021.068 [DAT](INFO): DAT read: user:52> 2025-10-27T04:07:01.069Z,1761538021.069 [DAT](INFO): DAT read: Tx time:04:07:00.1311 2025-10-27T04:07:01.069Z,1761538021.069 [DAT](INFO): Ping request sent. 2025-10-27T04:07:01.069Z,1761538021.069 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:07:01.069Z,1761538021.069 [DAT](INFO): publishing transmit ping time 2025-10-27T04:07:01.070Z,1761538021.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-27T04:07:01.321Z,1761538021.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252046 2025-10-27T04:07:01.430Z,1761538021.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811983,-0.581260,-0.053105],[0.583625,-0.809799,-0.060067],[-0.008090,-0.079767,0.996781]] 2025-10-27T04:07:01.461Z,1761538021.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:01.572Z,1761538021.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502884 2025-10-27T04:07:01.825Z,1761538021.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755725 2025-10-27T04:07:01.852Z,1761538021.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:07:01.904Z,1761538021.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812624,-0.579796,-0.058978],[0.582730,-0.809807,-0.068111],[-0.008270,-0.089717,0.995933]] 2025-10-27T04:07:01.956Z,1761538021.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:02.077Z,1761538022.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007433 2025-10-27T04:07:02.325Z,1761538022.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813234,-0.579053,-0.057867],[0.581883,-0.810491,-0.067211],[-0.007982,-0.088330,0.996059]] 2025-10-27T04:07:02.328Z,1761538022.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967 2025-10-27T04:07:02.357Z,1761538022.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:02.580Z,1761538022.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510856 2025-10-27T04:07:02.716Z,1761538022.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813486,-0.579262,-0.051931],[0.581540,-0.811285,-0.060238],[-0.007237,-0.079203,0.996832]] 2025-10-27T04:07:02.783Z,1761538022.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:02.832Z,1761538022.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763080 2025-10-27T04:07:02.855Z,1761538022.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:07:03.084Z,1761538023.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014808 2025-10-27T04:07:03.109Z,1761538023.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813498,-0.579742,-0.046051],[0.581533,-0.811766,-0.053430],[-0.006407,-0.070246,0.997509]] 2025-10-27T04:07:03.140Z,1761538023.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:03.338Z,1761538023.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269296 2025-10-27T04:07:03.517Z,1761538023.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813416,-0.580035,-0.043745],[0.581655,-0.811804,-0.051500],[-0.005640,-0.067335,0.997715]] 2025-10-27T04:07:03.591Z,1761538023.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520892 2025-10-27T04:07:03.597Z,1761538023.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:03.840Z,1761538023.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770803 2025-10-27T04:07:03.922Z,1761538023.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812963,-0.580539,-0.045445],[0.582296,-0.811095,-0.055281],[-0.004767,-0.071403,0.997436]] 2025-10-27T04:07:03.983Z,1761538023.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:04.093Z,1761538024.093 [DAT](INFO): DAT read: Rx Time:04:07:02.6101 2025-10-27T04:07:04.094Z,1761538024.094 [DAT](INFO): Rx dataTimestamp_ set to:1761538024.093290 2025-10-27T04:07:04.094Z,1761538024.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025041 2025-10-27T04:07:04.331Z,1761538024.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812394,-0.581088,-0.048506],[0.583099,-0.810060,-0.061626],[-0.003482,-0.078348,0.996920]] 2025-10-27T04:07:04.344Z,1761538024.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274879 2025-10-27T04:07:04.355Z,1761538024.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.68 m. 2025-10-27T04:07:04.602Z,1761538024.602 [DAT](INFO): DAT read: 04:07:02.6101 LVL= 24816, 17905, 26818, 29523, AGC= 59, IDX= 11, 0.07, 2.070, 2.909, 1.074, 2.503, PHS=-0.332, 0.450,-1.473, RAW= 6.2, 15.9, CAL= 6.3, 19.9, ROT= 143.7, -19.9 2025-10-27T04:07:04.603Z,1761538024.603 [DAT](INFO): got valid direction response: 04:07:02.6101 LVL= 24816, 17905, 26818, 29523, AGC= 59, IDX= 11, 0.07, 2.070, 2.909, 1.074, 2.503, PHS=-0.332, 0.450,-1.473, RAW= 6.2, 15.9, CAL= 6.3, 19.9, ROT= 143.7, -19.9 2025-10-27T04:07:04.604Z,1761538024.604 [DAT](INFO): DAT read: Bearing 94.5, 32.0 (Local) 2025-10-27T04:07:04.604Z,1761538024.604 [DAT](INFO): Local bearing/azimuth received: Bearing 94.5, 32.0 (Local) 2025-10-27T04:07:04.605Z,1761538024.605 [DAT](INFO): DAT read: Range 11 to 50 : 56.1 m (Round-trip 74.9 ms) speed -0.3 m/s 2025-10-27T04:07:04.606Z,1761538024.606 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:07:04.607Z,1761538024.607 [DAT](INFO): direction in FSK: [-0.757805,0.556663,0.340380] 2025-10-27T04:07:04.608Z,1761538024.608 [DAT](INFO): publishing direction and range info 2025-10-27T04:07:04.730Z,1761538024.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811194,-0.582596,-0.050458],[0.584774,-0.808441,-0.066809],[-0.001870,-0.083701,0.996489]] 2025-10-27T04:07:04.794Z,1761538024.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.099998 m, deltaT: 60.256352 s, deltaX: 7.199997 m, approachRate: 0.119489 m/s, rangeRepo size: 4 2025-10-27T04:07:04.814Z,1761538024.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.851707 m, bearing: 286.611315 deg, lat: 36.779430 deg, lon: -121.859521 deg, deltaT: 60.256352 s, deltaX: 7.168350 m, approachRate: 0.118964 m/s, posRepo size: 4 2025-10-27T04:07:04.819Z,1761538024.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:05.159Z,1761538025.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806486,-0.589144,-0.049908],[0.591251,-0.803362,-0.070936],[0.001698,-0.086717,0.996232]] 2025-10-27T04:07:05.177Z,1761538025.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:05.586Z,1761538025.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803221,-0.593609,-0.049638],[0.595671,-0.799919,-0.072840],[0.003533,-0.088075,0.996108]] 2025-10-27T04:07:05.639Z,1761538025.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:05.976Z,1761538025.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799392,-0.598698,-0.050335],[0.600784,-0.795766,-0.076252],[0.005597,-0.091195,0.995817]] 2025-10-27T04:07:06.013Z,1761538026.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:06.375Z,1761538026.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794726,-0.604696,-0.052467],[0.606919,-0.790597,-0.081271],[0.007664,-0.096431,0.995310]] 2025-10-27T04:07:06.411Z,1761538026.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:06.778Z,1761538026.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789848,-0.610754,-0.055857],[0.613225,-0.785013,-0.087808],[0.009781,-0.103608,0.994570]] 2025-10-27T04:07:06.843Z,1761538026.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:07.185Z,1761538027.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784775,-0.616920,-0.059476],[0.619665,-0.779157,-0.094498],[0.011956,-0.111015,0.993747]] 2025-10-27T04:07:07.203Z,1761538027.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:07.608Z,1761538027.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779049,-0.623819,-0.062706],[0.626796,-0.772632,-0.100829],[0.014450,-0.117855,0.992926]] 2025-10-27T04:07:07.673Z,1761538027.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:08.062Z,1761538028.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773207,-0.630731,-0.065792],[0.633922,-0.765953,-0.107045],[0.017123,-0.124475,0.992075]] 2025-10-27T04:07:08.105Z,1761538028.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:08.455Z,1761538028.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766856,-0.638125,-0.068761],[0.641520,-0.758818,-0.112459],[0.019585,-0.130351,0.991274]] 2025-10-27T04:07:08.473Z,1761538028.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:08.865Z,1761538028.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760227,-0.645725,-0.071366],[0.649281,-0.751454,-0.117264],[0.022092,-0.135484,0.990533]] 2025-10-27T04:07:08.924Z,1761538028.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:09.261Z,1761538029.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753353,-0.653455,-0.073863],[0.657150,-0.743825,-0.121977],[0.024765,-0.140431,0.989781]] 2025-10-27T04:07:09.293Z,1761538029.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:09.696Z,1761538029.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745890,-0.661597,-0.077057],[0.665508,-0.735510,-0.126977],[0.027332,-0.145993,0.988908]] 2025-10-27T04:07:09.757Z,1761538029.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:10.070Z,1761538030.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738238,-0.669749,-0.080250],[0.673863,-0.726932,-0.132205],[0.030208,-0.151677,0.987969]] 2025-10-27T04:07:10.088Z,1761538030.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:10.474Z,1761538030.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730216,-0.678100,-0.083454],[0.682411,-0.717962,-0.137283],[0.033175,-0.157197,0.987010]] 2025-10-27T04:07:10.492Z,1761538030.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:10.884Z,1761538030.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721512,-0.686981,-0.086470],[0.691457,-0.708366,-0.141792],[0.036156,-0.162095,0.986112]] 2025-10-27T04:07:10.943Z,1761538030.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:11.282Z,1761538031.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712590,-0.695843,-0.089542],[0.700472,-0.698477,-0.146521],[0.039413,-0.167131,0.985147]] 2025-10-27T04:07:11.327Z,1761538031.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:11.720Z,1761538031.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703378,-0.704784,-0.092404],[0.709526,-0.688317,-0.150973],[0.042800,-0.171754,0.984210]] 2025-10-27T04:07:11.757Z,1761538031.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:12.103Z,1761538032.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693944,-0.713747,-0.094910],[0.718521,-0.677919,-0.155414],[0.046585,-0.176043,0.983280]] 2025-10-27T04:07:12.121Z,1761538032.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:12.508Z,1761538032.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684679,-0.722181,-0.098333],[0.727087,-0.667418,-0.160927],[0.050589,-0.181680,0.982056]] 2025-10-27T04:07:12.526Z,1761538032.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:12.910Z,1761538032.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674630,-0.731146,-0.101488],[0.736113,-0.656152,-0.166139],[0.054880,-0.186789,0.980866]] 2025-10-27T04:07:12.957Z,1761538032.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:13.320Z,1761538033.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663861,-0.740520,-0.104486],[0.745508,-0.644226,-0.170851],[0.059206,-0.191317,0.979741]] 2025-10-27T04:07:13.362Z,1761538033.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:13.751Z,1761538033.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652221,-0.750298,-0.107987],[0.755376,-0.631402,-0.175323],[0.063361,-0.195921,0.978571]] 2025-10-27T04:07:13.796Z,1761538033.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:14.124Z,1761538034.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640514,-0.759768,-0.111778],[0.764937,-0.618336,-0.180368],[0.067921,-0.201032,0.977227]] 2025-10-27T04:07:14.142Z,1761538034.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:14.559Z,1761538034.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:14.930Z,1761538034.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615576,-0.778724,-0.121059],[0.784314,-0.590370,-0.190565],[0.076928,-0.212255,0.974182]] 2025-10-27T04:07:14.986Z,1761538034.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:15.333Z,1761538035.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602315,-0.788206,-0.126283],[0.794088,-0.575474,-0.195584],[0.081488,-0.218083,0.972522]] 2025-10-27T04:07:15.362Z,1761538035.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:15.778Z,1761538035.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588653,-0.797736,-0.130789],[0.803794,-0.560377,-0.199734],[0.086043,-0.222701,0.971082]] 2025-10-27T04:07:15.853Z,1761538035.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:16.175Z,1761538036.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574786,-0.807111,-0.134878],[0.813264,-0.545168,-0.203457],[0.090681,-0.226635,0.969749]] 2025-10-27T04:07:16.193Z,1761538036.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:16.744Z,1761538036.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560500,-0.816449,-0.138750],[0.822653,-0.529628,-0.206727],[0.095296,-0.230013,0.968510]] 2025-10-27T04:07:16.811Z,1761538036.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:17.272Z,1761538037.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531482,-0.834460,-0.145617],[0.840615,-0.498398,-0.212050],[0.104371,-0.235109,0.966349]] 2025-10-27T04:07:17.334Z,1761538037.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:17.816Z,1761538037.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516749,-0.843089,-0.148902],[0.849211,-0.482678,-0.214155],[0.108680,-0.237114,0.965384]] 2025-10-27T04:07:17.852Z,1761538037.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:18.188Z,1761538038.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501836,-0.851659,-0.151120],[0.857533,-0.467021,-0.215705],[0.113131,-0.237839,0.964694]] 2025-10-27T04:07:18.206Z,1761538038.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:18.590Z,1761538038.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486642,-0.859794,-0.154704],[0.865689,-0.450833,-0.217561],[0.117312,-0.239800,0.963708]] 2025-10-27T04:07:18.619Z,1761538038.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:19.044Z,1761538039.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471312,-0.867324,-0.160041],[0.873577,-0.434110,-0.220025],[0.121358,-0.243509,0.962276]] 2025-10-27T04:07:19.087Z,1761538039.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:19.544Z,1761538039.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456008,-0.874745,-0.163945],[0.881067,-0.417718,-0.221885],[0.125610,-0.245628,0.961191]] 2025-10-27T04:07:19.568Z,1761538039.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:19.943Z,1761538039.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440211,-0.881991,-0.168245],[0.888443,-0.400747,-0.223767],[0.129937,-0.247981,0.960011]] 2025-10-27T04:07:19.998Z,1761538039.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:20.405Z,1761538040.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407254,-0.896107,-0.176455],[0.902910,-0.365950,-0.225462],[0.137464,-0.251144,0.958139]] 2025-10-27T04:07:20.435Z,1761538040.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:20.839Z,1761538040.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390324,-0.902669,-0.181205],[0.909892,-0.348169,-0.225555],[0.140511,-0.252917,0.957230]] 2025-10-27T04:07:20.875Z,1761538040.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:21.207Z,1761538041.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373175,-0.909118,-0.185056],[0.916623,-0.330471,-0.224927],[0.143329,-0.253563,0.956641]] 2025-10-27T04:07:21.225Z,1761538041.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:21.609Z,1761538041.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356296,-0.915162,-0.188501],[0.922954,-0.313262,-0.223657],[0.145632,-0.253666,0.956266]] 2025-10-27T04:07:21.639Z,1761538041.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:22.014Z,1761538042.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339080,-0.921207,-0.190796],[0.929069,-0.296036,-0.221795],[0.147836,-0.252469,0.956245]] 2025-10-27T04:07:22.065Z,1761538042.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:22.424Z,1761538042.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322202,-0.926603,-0.193886],[0.934763,-0.279022,-0.219921],[0.149681,-0.252096,0.956056]] 2025-10-27T04:07:22.483Z,1761538042.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:22.881Z,1761538042.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305512,-0.931622,-0.196832],[0.940116,-0.262310,-0.217660],[0.151146,-0.251543,0.955971]] 2025-10-27T04:07:22.942Z,1761538042.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:23.310Z,1761538043.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288877,-0.936092,-0.200704],[0.945231,-0.245604,-0.214980],[0.151947,-0.251815,0.955773]] 2025-10-27T04:07:23.330Z,1761538043.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:23.703Z,1761538043.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272669,-0.940347,-0.203466],[0.949971,-0.229655,-0.211692],[0.152337,-0.251009,0.955923]] 2025-10-27T04:07:23.740Z,1761538043.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:24.102Z,1761538044.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257243,-0.943648,-0.208216],[0.954282,-0.214123,-0.208558],[0.152221,-0.252347,0.955589]] 2025-10-27T04:07:24.158Z,1761538044.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:24.508Z,1761538044.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242480,-0.946885,-0.211216],[0.958203,-0.199677,-0.204883],[0.151825,-0.252068,0.955725]] 2025-10-27T04:07:24.528Z,1761538044.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:24.910Z,1761538044.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228783,-0.949924,-0.212846],[0.961649,-0.186553,-0.201072],[0.151296,-0.250685,0.956173]] 2025-10-27T04:07:24.957Z,1761538044.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:25.316Z,1761538045.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216451,-0.952739,-0.213160],[0.964646,-0.175084,-0.196985],[0.150355,-0.248261,0.956953]] 2025-10-27T04:07:25.334Z,1761538045.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:25.725Z,1761538045.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205228,-0.955724,-0.210888],[0.967297,-0.165253,-0.192427],[0.149057,-0.243483,0.958383]] 2025-10-27T04:07:25.744Z,1761538045.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:26.123Z,1761538046.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195130,-0.958800,-0.206460],[0.969607,-0.156905,-0.187733],[0.147604,-0.236818,0.960276]] 2025-10-27T04:07:26.165Z,1761538046.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:26.525Z,1761538046.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186699,-0.961482,-0.201733],[0.971501,-0.150164,-0.183402],[0.146044,-0.230225,0.962116]] 2025-10-27T04:07:26.556Z,1761538046.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:26.936Z,1761538046.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179414,-0.963724,-0.197602],[0.973136,-0.144398,-0.179318],[0.144280,-0.224466,0.963742]] 2025-10-27T04:07:26.989Z,1761538046.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:27.489Z,1761538047.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173252,-0.965950,-0.192157],[0.974556,-0.139970,-0.175067],[0.142210,-0.217599,0.965623]] 2025-10-27T04:07:27.508Z,1761538047.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:27.853Z,1761538047.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169030,-0.967921,-0.185896],[0.975553,-0.137427,-0.171494],[0.140445,-0.210339,0.967488]] 2025-10-27T04:07:27.874Z,1761538047.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:28.324Z,1761538048.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166023,-0.969581,-0.179856],[0.976394,-0.136073,-0.167746],[0.138170,-0.203460,0.969285]] 2025-10-27T04:07:28.388Z,1761538048.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:28.770Z,1761538048.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:29.130Z,1761538049.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162186,-0.972458,-0.167396],[0.977895,-0.135711,-0.159069],[0.131970,-0.189495,0.972973]] 2025-10-27T04:07:29.180Z,1761538049.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:29.534Z,1761538049.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161492,-0.973338,-0.162890],[0.978467,-0.136422,-0.154890],[0.128539,-0.184396,0.974411]] 2025-10-27T04:07:29.561Z,1761538049.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:30.057Z,1761538050.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:30.401Z,1761538050.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:30.752Z,1761538050.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162237,-0.975982,-0.145392],[0.979664,-0.141685,-0.142068],[0.118056,-0.165484,0.979121]] 2025-10-27T04:07:30.783Z,1761538050.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:31.207Z,1761538051.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:31.558Z,1761538051.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164422,-0.976790,-0.137282],[0.980153,-0.146166,-0.133922],[0.110747,-0.156577,0.981437]] 2025-10-27T04:07:31.590Z,1761538051.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:32.023Z,1761538052.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167086,-0.976718,-0.134549],[0.980467,-0.150242,-0.126934],[0.103763,-0.153130,0.982743]] 2025-10-27T04:07:32.079Z,1761538052.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:32.409Z,1761538052.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:32.798Z,1761538052.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170496,-0.976961,-0.128368],[0.980482,-0.155262,-0.120621],[0.097911,-0.146428,0.984364]] 2025-10-27T04:07:32.818Z,1761538052.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:32.988Z,1761538052.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:07:33.186Z,1761538053.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171692,-0.977174,-0.125112],[0.980532,-0.157220,-0.117639],[0.095284,-0.142874,0.985144]] 2025-10-27T04:07:33.231Z,1761538053.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:33.629Z,1761538053.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:33.993Z,1761538053.993 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:07:34.058Z,1761538054.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173586,-0.977074,-0.123263],[0.980681,-0.160036,-0.112488],[0.090182,-0.140408,0.985978]] 2025-10-27T04:07:34.105Z,1761538054.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:34.407Z,1761538054.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174599,-0.976905,-0.123176],[0.980702,-0.161359,-0.110393],[0.087967,-0.140074,0.986226]] 2025-10-27T04:07:34.425Z,1761538054.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:34.807Z,1761538054.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175628,-0.976565,-0.124401],[0.980707,-0.162538,-0.108608],[0.085843,-0.141075,0.986270]] 2025-10-27T04:07:34.832Z,1761538054.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:35.210Z,1761538055.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176440,-0.976243,-0.125775],[0.980757,-0.163512,-0.106678],[0.083578,-0.142177,0.986306]] 2025-10-27T04:07:35.254Z,1761538055.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:35.614Z,1761538055.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177519,-0.975810,-0.127596],[0.980756,-0.164713,-0.104817],[0.081264,-0.143748,0.986272]] 2025-10-27T04:07:35.634Z,1761538055.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:36.105Z,1761538056.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178844,-0.975211,-0.130302],[0.980717,-0.166092,-0.102998],[0.078803,-0.146210,0.986110]] 2025-10-27T04:07:36.150Z,1761538056.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:36.447Z,1761538056.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179365,-0.975053,-0.130766],[0.980849,-0.166986,-0.100251],[0.075914,-0.146244,0.986332]] 2025-10-27T04:07:36.466Z,1761538056.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:36.852Z,1761538056.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179125,-0.974863,-0.132504],[0.981141,-0.167063,-0.097228],[0.072647,-0.147421,0.986402]] 2025-10-27T04:07:36.893Z,1761538056.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:37.254Z,1761538057.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179098,-0.974805,-0.132964],[0.981355,-0.167426,-0.094394],[0.069754,-0.147390,0.986616]] 2025-10-27T04:07:37.326Z,1761538057.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:37.659Z,1761538057.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178364,-0.975243,-0.130718],[0.981703,-0.167376,-0.090797],[0.066670,-0.144521,0.987253]] 2025-10-27T04:07:37.708Z,1761538057.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:38.188Z,1761538058.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:38.479Z,1761538058.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175958,-0.975623,-0.131146],[0.982510,-0.165809,-0.084739],[0.060928,-0.143763,0.987735]] 2025-10-27T04:07:38.522Z,1761538058.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:38.878Z,1761538058.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174261,-0.975869,-0.131577],[0.982974,-0.164488,-0.081895],[0.058276,-0.143608,0.987917]] 2025-10-27T04:07:38.920Z,1761538058.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:39.291Z,1761538059.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172286,-0.976000,-0.133197],[0.983481,-0.162811,-0.079109],[0.055524,-0.144626,0.987927]] 2025-10-27T04:07:39.346Z,1761538059.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:39.689Z,1761538059.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170896,-0.975481,-0.138674],[0.983866,-0.161388,-0.077209],[0.052936,-0.149632,0.987324]] 2025-10-27T04:07:39.745Z,1761538059.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:40.152Z,1761538060.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169400,-0.975119,-0.142990],[0.984255,-0.159959,-0.075204],[0.050461,-0.153478,0.986863]] 2025-10-27T04:07:40.195Z,1761538060.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:40.526Z,1761538060.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167943,-0.974854,-0.146477],[0.984618,-0.158616,-0.073271],[0.048194,-0.156529,0.986497]] 2025-10-27T04:07:40.544Z,1761538060.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:40.925Z,1761538060.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167180,-0.974716,-0.148255],[0.984833,-0.158017,-0.071657],[0.046419,-0.157987,0.986350]] 2025-10-27T04:07:40.953Z,1761538060.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:41.329Z,1761538061.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166696,-0.974690,-0.148971],[0.984987,-0.157735,-0.070150],[0.044877,-0.158428,0.986350]] 2025-10-27T04:07:41.372Z,1761538061.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:41.736Z,1761538061.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166435,-0.974811,-0.148467],[0.985091,-0.157732,-0.068671],[0.043523,-0.157683,0.986530]] 2025-10-27T04:07:41.756Z,1761538061.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:42.174Z,1761538062.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166501,-0.975035,-0.146915],[0.985126,-0.158070,-0.067390],[0.042485,-0.155950,0.986851]] 2025-10-27T04:07:42.218Z,1761538062.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:42.540Z,1761538062.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166964,-0.975092,-0.146012],[0.985084,-0.158722,-0.066462],[0.041631,-0.154930,0.987048]] 2025-10-27T04:07:42.567Z,1761538062.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:42.945Z,1761538062.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167228,-0.975101,-0.145647],[0.985050,-0.159051,-0.066168],[0.041355,-0.154534,0.987122]] 2025-10-27T04:07:42.985Z,1761538062.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:43.348Z,1761538063.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167865,-0.975158,-0.144526],[0.984956,-0.159806,-0.065759],[0.041029,-0.153390,0.987314]] 2025-10-27T04:07:43.404Z,1761538063.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:43.758Z,1761538063.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168765,-0.975048,-0.144219],[0.984811,-0.160745,-0.065643],[0.040823,-0.153106,0.987366]] 2025-10-27T04:07:43.789Z,1761538063.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:44.208Z,1761538064.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169312,-0.975012,-0.143823],[0.984741,-0.161402,-0.065076],[0.040236,-0.152646,0.987462]] 2025-10-27T04:07:44.256Z,1761538064.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:44.601Z,1761538064.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170078,-0.975071,-0.142514],[0.984632,-0.162334,-0.064398],[0.039657,-0.151276,0.987696]] 2025-10-27T04:07:44.623Z,1761538064.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:45.061Z,1761538065.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170619,-0.975005,-0.142317],[0.984570,-0.163001,-0.063658],[0.038869,-0.150983,0.987772]] 2025-10-27T04:07:45.084Z,1761538065.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:45.465Z,1761538065.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171335,-0.974804,-0.142835],[0.984496,-0.163872,-0.062560],[0.037577,-0.151340,0.987767]] 2025-10-27T04:07:45.502Z,1761538065.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:45.865Z,1761538065.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171839,-0.974638,-0.143361],[0.984463,-0.164560,-0.061262],[0.036116,-0.151660,0.987773]] 2025-10-27T04:07:45.896Z,1761538065.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:46.278Z,1761538066.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171926,-0.974689,-0.142907],[0.984515,-0.164964,-0.059305],[0.034229,-0.150890,0.987958]] 2025-10-27T04:07:46.323Z,1761538066.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:46.681Z,1761538066.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171643,-0.974494,-0.144571],[0.984650,-0.164981,-0.056961],[0.031657,-0.152129,0.987854]] 2025-10-27T04:07:46.705Z,1761538066.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:47.087Z,1761538067.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170872,-0.974554,-0.145075],[0.984852,-0.164530,-0.054734],[0.029472,-0.152230,0.987906]] 2025-10-27T04:07:47.105Z,1761538067.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:47.535Z,1761538067.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:47.933Z,1761538067.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:48.293Z,1761538068.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168511,-0.974536,-0.147929],[0.985469,-0.163319,-0.046656],[0.021308,-0.153642,0.987897]] 2025-10-27T04:07:48.330Z,1761538068.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:48.697Z,1761538068.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167807,-0.974650,-0.147982],[0.985642,-0.163029,-0.043938],[0.018699,-0.153231,0.988014]] 2025-10-27T04:07:48.730Z,1761538068.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:49.098Z,1761538069.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167147,-0.974743,-0.148112],[0.985802,-0.162791,-0.041148],[0.015998,-0.152887,0.988114]] 2025-10-27T04:07:49.132Z,1761538069.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:49.503Z,1761538069.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166577,-0.975129,-0.146204],[0.985944,-0.162776,-0.037672],[0.012936,-0.150424,0.988537]] 2025-10-27T04:07:49.559Z,1761538069.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:49.907Z,1761538069.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165626,-0.975423,-0.145324],[0.986139,-0.162328,-0.034349],[0.009915,-0.148999,0.988788]] 2025-10-27T04:07:49.925Z,1761538069.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:50.310Z,1761538070.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164486,-0.975550,-0.145760],[0.986355,-0.161644,-0.031211],[0.006887,-0.148905,0.988827]] 2025-10-27T04:07:50.352Z,1761538070.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:50.720Z,1761538070.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163692,-0.975422,-0.147502],[0.986504,-0.161265,-0.028351],[0.003867,-0.150152,0.988655]] 2025-10-27T04:07:50.762Z,1761538070.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:51.117Z,1761538071.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162958,-0.975401,-0.148448],[0.986632,-0.160942,-0.025578],[0.001057,-0.150632,0.988589]] 2025-10-27T04:07:51.139Z,1761538071.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:51.525Z,1761538071.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162443,-0.975076,-0.151123],[0.986717,-0.160748,-0.023448],[-0.001430,-0.152924,0.988237]] 2025-10-27T04:07:51.562Z,1761538071.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:51.926Z,1761538071.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162240,-0.974830,-0.152922],[0.986744,-0.160885,-0.021279],[-0.003860,-0.154347,0.988009]] 2025-10-27T04:07:51.953Z,1761538071.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:52.330Z,1761538072.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162172,-0.974815,-0.153086],[0.986743,-0.161185,-0.018923],[-0.006229,-0.154125,0.988032]] 2025-10-27T04:07:52.372Z,1761538072.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:52.736Z,1761538072.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162613,-0.974885,-0.152174],[0.986655,-0.161955,-0.016793],[-0.008275,-0.152874,0.988211]] 2025-10-27T04:07:52.781Z,1761538072.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:53.143Z,1761538073.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163269,-0.974863,-0.151609],[0.986529,-0.162907,-0.014888],[-0.010185,-0.151998,0.988328]] 2025-10-27T04:07:53.167Z,1761538073.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:53.543Z,1761538073.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164117,-0.974742,-0.151472],[0.986367,-0.164032,-0.013145],[-0.012033,-0.151564,0.988374]] 2025-10-27T04:07:53.586Z,1761538073.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:53.945Z,1761538073.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165286,-0.974599,-0.151120],[0.986148,-0.165478,-0.011397],[-0.013899,-0.150911,0.988450]] 2025-10-27T04:07:53.981Z,1761538073.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:54.356Z,1761538074.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166796,-0.974977,-0.146969],[0.985863,-0.167320,-0.008876],[-0.015937,-0.146372,0.989101]] 2025-10-27T04:07:54.411Z,1761538074.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:54.767Z,1761538074.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168216,-0.974984,-0.145294],[0.985588,-0.169026,-0.006838],[-0.017891,-0.144350,0.989365]] 2025-10-27T04:07:54.790Z,1761538074.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:55.158Z,1761538075.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169628,-0.974534,-0.146663],[0.985304,-0.170737,-0.005092],[-0.020079,-0.145371,0.989173]] 2025-10-27T04:07:55.185Z,1761538075.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:55.562Z,1761538075.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170799,-0.974152,-0.147839],[0.985052,-0.172228,-0.003176],[-0.022368,-0.146172,0.989006]] 2025-10-27T04:07:55.614Z,1761538075.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:55.966Z,1761538075.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171911,-0.973972,-0.147734],[0.984811,-0.173624,-0.001321],[-0.024364,-0.145717,0.989026]] 2025-10-27T04:07:55.991Z,1761538075.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:56.385Z,1761538076.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172867,-0.974199,-0.145096],[0.984589,-0.174879,0.001127],[-0.026472,-0.142665,0.989417]] 2025-10-27T04:07:56.438Z,1761538076.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:56.783Z,1761538076.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174029,-0.974047,-0.144728],[0.984329,-0.176317,0.003034],[-0.028473,-0.141932,0.989467]] 2025-10-27T04:07:56.808Z,1761538076.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:57.221Z,1761538077.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:57.637Z,1761538077.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:57.987Z,1761538077.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176559,-0.973249,-0.147016],[0.983684,-0.179710,0.008323],[-0.034520,-0.143148,0.989099]] 2025-10-27T04:07:58.010Z,1761538078.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:58.416Z,1761538078.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177788,-0.972559,-0.150066],[0.983349,-0.181412,0.010701],[-0.037631,-0.145664,0.988618]] 2025-10-27T04:07:58.468Z,1761538078.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:58.832Z,1761538078.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:59.198Z,1761538079.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178256,-0.972133,-0.152259],[0.983235,-0.182012,0.010984],[-0.038390,-0.147749,0.988280]] 2025-10-27T04:07:59.242Z,1761538079.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:07:59.607Z,1761538079.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178594,-0.971819,-0.153856],[0.983143,-0.182481,0.011410],[-0.039164,-0.149224,0.988027]] 2025-10-27T04:07:59.661Z,1761538079.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:00.016Z,1761538080.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178817,-0.971782,-0.153834],[0.983075,-0.182807,0.012077],[-0.039858,-0.149070,0.988023]] 2025-10-27T04:08:00.034Z,1761538080.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:00.495Z,1761538080.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:00.818Z,1761538080.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177617,-0.972084,-0.153314],[0.983171,-0.182050,0.015264],[-0.042749,-0.148023,0.988060]] 2025-10-27T04:08:00.837Z,1761538080.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:08:00.839Z,1761538080.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:01.088Z,1761538081.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:08:01.088Z,1761538081.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:08:01.224Z,1761538081.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176830,-0.972473,-0.151746],[0.983260,-0.181424,0.016869],[-0.043935,-0.146222,0.988276]] 2025-10-27T04:08:01.256Z,1761538081.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:01.340Z,1761538081.340 [DAT](INFO): DAT read: user:53> 2025-10-27T04:08:01.341Z,1761538081.341 [DAT](INFO): DAT read: Tx time:04:08:00.3811 2025-10-27T04:08:01.342Z,1761538081.342 [DAT](INFO): Ping request sent. 2025-10-27T04:08:01.342Z,1761538081.342 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:08:01.342Z,1761538081.342 [DAT](INFO): publishing transmit ping time 2025-10-27T04:08:01.343Z,1761538081.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001486 2025-10-27T04:08:01.592Z,1761538081.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249919 2025-10-27T04:08:01.680Z,1761538081.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:01.844Z,1761538081.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501962 2025-10-27T04:08:02.026Z,1761538082.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175602,-0.973062,-0.149380],[0.983327,-0.180651,0.020821],[-0.047245,-0.143234,0.988561]] 2025-10-27T04:08:02.051Z,1761538082.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:02.098Z,1761538082.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755636 2025-10-27T04:08:02.348Z,1761538082.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005955 2025-10-27T04:08:02.468Z,1761538082.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174949,-0.973185,-0.149346],[0.983369,-0.180227,0.022464],[-0.048777,-0.142932,0.988530]] 2025-10-27T04:08:02.544Z,1761538082.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:02.601Z,1761538082.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258663 2025-10-27T04:08:02.852Z,1761538082.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510044 2025-10-27T04:08:02.858Z,1761538082.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174363,-0.973301,-0.149271],[0.983386,-0.179895,0.024290],[-0.050495,-0.142556,0.988498]] 2025-10-27T04:08:02.877Z,1761538082.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:03.104Z,1761538083.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762026 2025-10-27T04:08:03.270Z,1761538083.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173796,-0.973065,-0.151461],[0.983427,-0.179555,0.025113],[-0.051632,-0.144586,0.988144]] 2025-10-27T04:08:03.291Z,1761538083.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:03.356Z,1761538083.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014115 2025-10-27T04:08:03.610Z,1761538083.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266994 2025-10-27T04:08:03.661Z,1761538083.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173361,-0.973118,-0.151618],[0.983437,-0.179314,0.026408],[-0.052886,-0.144528,0.988086]] 2025-10-27T04:08:03.725Z,1761538083.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:03.860Z,1761538083.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518012 2025-10-27T04:08:04.066Z,1761538084.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173425,-0.973042,-0.152031],[0.983354,-0.179584,0.027656],[-0.054213,-0.144704,0.987989]] 2025-10-27T04:08:04.084Z,1761538084.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:04.112Z,1761538084.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770334 2025-10-27T04:08:04.120Z,1761538084.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:08:04.364Z,1761538084.364 [DAT](INFO): DAT read: Rx Time:04:08:02.9132 2025-10-27T04:08:04.364Z,1761538084.364 [DAT](INFO): Rx dataTimestamp_ set to:1761538084.364143 2025-10-27T04:08:04.365Z,1761538084.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023067 2025-10-27T04:08:04.498Z,1761538084.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173299,-0.972980,-0.152570],[0.983292,-0.179697,0.029087],[-0.055718,-0.144980,0.987864]] 2025-10-27T04:08:04.550Z,1761538084.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.85 m. 2025-10-27T04:08:04.616Z,1761538084.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274006 2025-10-27T04:08:04.873Z,1761538084.873 [DAT](INFO): DAT read: 04:08:02.9132 LVL= 32752, 28609, 32754, 32755, AGC= 72, IDX= 459, 0.22,-0.943, 0.880,-0.764,-0.324, PHS=-0.517, 1.249,-0.484, RAW= 329.1, -2.9, CAL= 328.3, -5.9, ROT= 181.7, 5.9 2025-10-27T04:08:04.874Z,1761538084.874 [DAT](INFO): got valid direction response: 04:08:02.9132 LVL= 32752, 28609, 32754, 32755, AGC= 72, IDX= 459, 0.22,-0.943, 0.880,-0.764,-0.324, PHS=-0.517, 1.249,-0.484, RAW= 329.1, -2.9, CAL= 328.3, -5.9, ROT= 181.7, 5.9 2025-10-27T04:08:04.876Z,1761538084.876 [DAT](INFO): DAT read: Bearing 80.1, 2.6 (Local) 2025-10-27T04:08:04.876Z,1761538084.876 [DAT](INFO): Local bearing/azimuth received: Bearing 80.1, 2.6 (Local) 2025-10-27T04:08:04.877Z,1761538084.877 [DAT](INFO): DAT read: Range 11 to 50 : 96.0 m (Round-trip 128.0 ms) speed -0.7 m/s 2025-10-27T04:08:04.878Z,1761538084.878 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:08:04.879Z,1761538084.879 [DAT](INFO): direction in FSK: [-0.994265,-0.029509,-0.102793] 2025-10-27T04:08:04.879Z,1761538084.879 [DAT](INFO): publishing direction and range info 2025-10-27T04:08:04.911Z,1761538084.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173302,-0.973039,-0.152187],[0.983218,-0.179877,0.030444],[-0.056998,-0.144357,0.987883]] 2025-10-27T04:08:04.976Z,1761538084.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 96.000000 m, deltaT: 60.271742 s, deltaX: 39.900002 m, approachRate: 0.662002 m/s, rangeRepo size: 4 2025-10-27T04:08:04.978Z,1761538084.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.561996 m, bearing: 282.523775 deg, lat: 36.779430 deg, lon: -121.859521 deg, deltaT: 60.271742 s, deltaX: 39.710289 m, approachRate: 0.658854 m/s, posRepo size: 4 2025-10-27T04:08:04.978Z,1761538084.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:05.123Z,1761538085.123 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:08:05.287Z,1761538085.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173263,-0.973122,-0.151702],[0.983148,-0.180015,0.031859],[-0.058311,-0.143626,0.987913]] 2025-10-27T04:08:05.305Z,1761538085.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:05.696Z,1761538085.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173379,-0.973103,-0.151690],[0.983052,-0.180313,0.033107],[-0.059568,-0.143379,0.987874]] 2025-10-27T04:08:05.781Z,1761538085.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:06.091Z,1761538086.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173701,-0.973080,-0.151469],[0.982931,-0.180775,0.034151],[-0.060613,-0.142952,0.987872]] 2025-10-27T04:08:06.109Z,1761538086.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:06.524Z,1761538086.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174251,-0.973058,-0.150979],[0.982792,-0.181399,0.034834],[-0.061283,-0.142311,0.987923]] 2025-10-27T04:08:06.567Z,1761538086.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:06.903Z,1761538086.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174556,-0.972823,-0.152137],[0.982702,-0.181826,0.035157],[-0.061864,-0.143369,0.987734]] 2025-10-27T04:08:06.921Z,1761538086.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:07.302Z,1761538087.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175081,-0.972708,-0.152270],[0.982563,-0.182456,0.035775],[-0.062581,-0.143352,0.987691]] 2025-10-27T04:08:07.339Z,1761538087.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:07.712Z,1761538087.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175500,-0.972392,-0.153800],[0.982470,-0.182968,0.035715],[-0.062869,-0.144836,0.987456]] 2025-10-27T04:08:07.770Z,1761538087.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:08.109Z,1761538088.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176171,-0.972513,-0.152257],[0.982374,-0.183520,0.035530],[-0.062496,-0.143314,0.987702]] 2025-10-27T04:08:08.128Z,1761538088.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:08.553Z,1761538088.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176632,-0.972121,-0.154213],[0.982321,-0.183976,0.034615],[-0.062022,-0.145372,0.987431]] 2025-10-27T04:08:08.597Z,1761538088.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:08.917Z,1761538088.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177164,-0.971863,-0.155224],[0.982267,-0.184438,0.033666],[-0.061348,-0.146507,0.987306]] 2025-10-27T04:08:08.946Z,1761538088.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:09.321Z,1761538089.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178016,-0.971502,-0.156508],[0.982170,-0.185186,0.032372],[-0.060432,-0.147955,0.987146]] 2025-10-27T04:08:09.367Z,1761538089.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:09.793Z,1761538089.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:10.133Z,1761538090.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179343,-0.971016,-0.157999],[0.982055,-0.186227,0.029775],[-0.058336,-0.149824,0.986990]] 2025-10-27T04:08:10.151Z,1761538090.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:10.573Z,1761538090.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180333,-0.971067,-0.156555],[0.981928,-0.187023,0.028985],[-0.057425,-0.148499,0.987244]] 2025-10-27T04:08:10.623Z,1761538090.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:10.937Z,1761538090.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181386,-0.970850,-0.156681],[0.981746,-0.188037,0.028597],[-0.057225,-0.148634,0.987235]] 2025-10-27T04:08:10.956Z,1761538090.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:11.349Z,1761538091.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181974,-0.970405,-0.158744],[0.981638,-0.188675,0.028087],[-0.057206,-0.150718,0.986920]] 2025-10-27T04:08:11.367Z,1761538091.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:11.758Z,1761538091.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182941,-0.970211,-0.158816],[0.981442,-0.189674,0.028196],[-0.057480,-0.150710,0.986906]] 2025-10-27T04:08:11.811Z,1761538091.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:12.150Z,1761538092.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183382,-0.970151,-0.158676],[0.981328,-0.190188,0.028697],[-0.058018,-0.150451,0.986914]] 2025-10-27T04:08:12.181Z,1761538092.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:12.572Z,1761538092.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183445,-0.970376,-0.157221],[0.981263,-0.190343,0.029873],[-0.058914,-0.148795,0.987112]] 2025-10-27T04:08:12.639Z,1761538092.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:12.960Z,1761538092.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183919,-0.970898,-0.153397],[0.981127,-0.190807,0.031331],[-0.059689,-0.144740,0.987668]] 2025-10-27T04:08:13.019Z,1761538093.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:13.362Z,1761538093.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184000,-0.971364,-0.150322],[0.981058,-0.190914,0.032810],[-0.060568,-0.141437,0.988093]] 2025-10-27T04:08:13.393Z,1761538093.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:13.817Z,1761538093.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:14.171Z,1761538094.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184538,-0.971318,-0.149959],[0.980882,-0.191606,0.034009],[-0.061767,-0.140817,0.988107]] 2025-10-27T04:08:14.193Z,1761538094.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:14.587Z,1761538094.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184202,-0.971291,-0.150542],[0.980902,-0.191393,0.034639],[-0.062458,-0.141287,0.987997]] 2025-10-27T04:08:14.658Z,1761538094.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:14.979Z,1761538094.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183655,-0.971019,-0.152950],[0.980975,-0.191006,0.034711],[-0.062920,-0.143665,0.987624]] 2025-10-27T04:08:15.016Z,1761538095.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:15.381Z,1761538095.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182411,-0.971146,-0.153630],[0.981144,-0.189945,0.035752],[-0.063901,-0.144212,0.987481]] 2025-10-27T04:08:15.417Z,1761538095.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:15.841Z,1761538095.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:16.190Z,1761538096.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180556,-0.971309,-0.154785],[0.981389,-0.188373,0.037299],[-0.065387,-0.145170,0.987244]] 2025-10-27T04:08:16.223Z,1761538096.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:16.599Z,1761538096.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179300,-0.971509,-0.154989],[0.981560,-0.187271,0.038332],[-0.066265,-0.145258,0.987172]] 2025-10-27T04:08:16.673Z,1761538096.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:16.998Z,1761538096.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177774,-0.971744,-0.155272],[0.981749,-0.185967,0.039824],[-0.067574,-0.145358,0.987069]] 2025-10-27T04:08:17.042Z,1761538097.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:17.406Z,1761538097.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176345,-0.971937,-0.155697],[0.981869,-0.184864,0.041927],[-0.069533,-0.145480,0.986915]] 2025-10-27T04:08:17.425Z,1761538097.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:17.868Z,1761538097.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:18.219Z,1761538098.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174130,-0.972100,-0.157162],[0.981859,-0.183561,0.047519],[-0.075042,-0.146036,0.986429]] 2025-10-27T04:08:18.254Z,1761538098.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:18.614Z,1761538098.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173290,-0.971528,-0.161567],[0.981785,-0.183383,0.049687],[-0.077901,-0.150014,0.985610]] 2025-10-27T04:08:18.705Z,1761538098.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:19.017Z,1761538099.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172943,-0.971517,-0.162006],[0.981630,-0.183472,0.052347],[-0.080579,-0.149977,0.985400]] 2025-10-27T04:08:19.068Z,1761538099.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:19.432Z,1761538099.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172821,-0.971508,-0.162189],[0.981419,-0.183788,0.055131],[-0.083369,-0.149647,0.985218]] 2025-10-27T04:08:19.450Z,1761538099.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:19.825Z,1761538099.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172675,-0.971865,-0.160193],[0.981224,-0.183914,0.058096],[-0.085923,-0.147153,0.985375]] 2025-10-27T04:08:19.871Z,1761538099.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:20.279Z,1761538100.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:20.734Z,1761538100.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:21.040Z,1761538101.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171758,-0.972517,-0.157193],[0.980962,-0.183517,0.063524],[-0.090626,-0.143289,0.985523]] 2025-10-27T04:08:21.076Z,1761538101.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:21.442Z,1761538101.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171870,-0.972102,-0.159619],[0.980834,-0.183958,0.064221],[-0.091793,-0.145523,0.985087]] 2025-10-27T04:08:21.473Z,1761538101.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:21.899Z,1761538101.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:22.256Z,1761538102.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172920,-0.971676,-0.161074],[0.980528,-0.185283,0.065073],[-0.093074,-0.146685,0.984795]] 2025-10-27T04:08:22.275Z,1761538102.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:22.655Z,1761538102.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174169,-0.971214,-0.162505],[0.980263,-0.186681,0.065081],[-0.093544,-0.147963,0.984559]] 2025-10-27T04:08:22.673Z,1761538102.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:23.057Z,1761538103.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175222,-0.970760,-0.164080],[0.980021,-0.187911,0.065183],[-0.094109,-0.149380,0.984291]] 2025-10-27T04:08:23.100Z,1761538103.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:23.462Z,1761538103.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176509,-0.970462,-0.164461],[0.979766,-0.189243,0.065153],[-0.094351,-0.149633,0.984230]] 2025-10-27T04:08:23.480Z,1761538103.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:23.868Z,1761538103.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178422,-0.970036,-0.164910],[0.979425,-0.191151,0.064716],[-0.094299,-0.149970,0.984183]] 2025-10-27T04:08:23.904Z,1761538103.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:24.270Z,1761538104.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180217,-0.969631,-0.165344],[0.979100,-0.192943,0.064311],[-0.094260,-0.150298,0.984137]] 2025-10-27T04:08:24.305Z,1761538104.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:24.674Z,1761538104.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182840,-0.969270,-0.164574],[0.978694,-0.195350,0.063210],[-0.093417,-0.149510,0.984337]] 2025-10-27T04:08:24.696Z,1761538104.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:25.078Z,1761538105.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185406,-0.968843,-0.164218],[0.978272,-0.197762,0.062250],[-0.092786,-0.149108,0.984458]] 2025-10-27T04:08:25.116Z,1761538105.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:25.478Z,1761538105.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187380,-0.968447,-0.164315],[0.977957,-0.199616,0.061273],[-0.092139,-0.149212,0.984503]] 2025-10-27T04:08:25.520Z,1761538105.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:25.881Z,1761538105.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189482,-0.968159,-0.163598],[0.977734,-0.201347,0.059129],[-0.090186,-0.148751,0.984754]] 2025-10-27T04:08:25.925Z,1761538105.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:26.332Z,1761538106.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:26.739Z,1761538106.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191525,-0.967194,-0.166892],[0.977648,-0.203024,0.054641],[-0.086731,-0.152697,0.984460]] 2025-10-27T04:08:26.803Z,1761538106.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:27.127Z,1761538107.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192192,-0.966724,-0.168843],[0.977682,-0.203494,0.052237],[-0.084858,-0.155035,0.984258]] 2025-10-27T04:08:27.179Z,1761538107.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:27.540Z,1761538107.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191762,-0.966657,-0.169710],[0.977891,-0.202885,0.050664],[-0.083406,-0.156242,0.984191]] 2025-10-27T04:08:27.558Z,1761538107.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:27.940Z,1761538107.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191201,-0.966566,-0.170855],[0.978111,-0.202183,0.049204],[-0.082103,-0.157707,0.984067]] 2025-10-27T04:08:27.996Z,1761538107.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:28.342Z,1761538108.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190064,-0.966646,-0.171670],[0.978425,-0.200923,0.048107],[-0.080995,-0.158823,0.983979]] 2025-10-27T04:08:28.377Z,1761538108.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:28.750Z,1761538108.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188785,-0.966986,-0.171166],[0.978755,-0.199477,0.047420],[-0.079998,-0.158578,0.984100]] 2025-10-27T04:08:28.768Z,1761538108.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:29.220Z,1761538109.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:29.589Z,1761538109.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:29.957Z,1761538109.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184214,-0.968316,-0.168609],[0.979850,-0.194396,0.045875],[-0.077198,-0.156760,0.984615]] 2025-10-27T04:08:30.004Z,1761538110.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:30.362Z,1761538110.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182404,-0.968903,-0.167200],[0.980248,-0.192424,0.045688],[-0.076441,-0.155564,0.984864]] 2025-10-27T04:08:30.380Z,1761538110.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:30.766Z,1761538110.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180305,-0.969655,-0.165105],[0.980676,-0.190173,0.045918],[-0.075923,-0.153636,0.985206]] 2025-10-27T04:08:30.784Z,1761538110.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:31.263Z,1761538111.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:31.573Z,1761538111.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176906,-0.970334,-0.164793],[0.981424,-0.186541,0.044829],[-0.074240,-0.153801,0.985309]] 2025-10-27T04:08:31.592Z,1761538111.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:31.976Z,1761538111.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175974,-0.970342,-0.165737],[0.981676,-0.185489,0.043672],[-0.073119,-0.155014,0.985203]] 2025-10-27T04:08:32.014Z,1761538112.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:32.377Z,1761538112.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175571,-0.970005,-0.168125],[0.981831,-0.185018,0.042152],[-0.071994,-0.157670,0.984864]] 2025-10-27T04:08:32.402Z,1761538112.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:32.782Z,1761538112.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175372,-0.969778,-0.169633],[0.981928,-0.184749,0.041048],[-0.071147,-0.159369,0.984652]] 2025-10-27T04:08:32.816Z,1761538112.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:33.185Z,1761538113.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175611,-0.969663,-0.170043],[0.981881,-0.185012,0.040993],[-0.071209,-0.159763,0.984584]] 2025-10-27T04:08:33.261Z,1761538113.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:33.591Z,1761538113.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176394,-0.969412,-0.170663],[0.981759,-0.185769,0.040486],[-0.070952,-0.160408,0.984497]] 2025-10-27T04:08:33.609Z,1761538113.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:33.994Z,1761538113.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177649,-0.969073,-0.171285],[0.981574,-0.186938,0.039587],[-0.070382,-0.161096,0.984426]] 2025-10-27T04:08:34.068Z,1761538114.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:34.398Z,1761538114.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178865,-0.968744,-0.171881],[0.981385,-0.188087,0.038819],[-0.069934,-0.161738,0.984353]] 2025-10-27T04:08:34.430Z,1761538114.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:34.802Z,1761538114.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180454,-0.968462,-0.171805],[0.981138,-0.189547,0.037941],[-0.069310,-0.161718,0.984400]] 2025-10-27T04:08:34.821Z,1761538114.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:35.215Z,1761538115.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181896,-0.968246,-0.171506],[0.980912,-0.190862,0.037186],[-0.068739,-0.161468,0.984481]] 2025-10-27T04:08:35.246Z,1761538115.246 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:08:35.276Z,1761538115.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:35.610Z,1761538115.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183929,-0.968279,-0.169132],[0.980578,-0.192670,0.036669],[-0.068092,-0.159102,0.984911]] 2025-10-27T04:08:35.636Z,1761538115.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:36.013Z,1761538116.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186081,-0.968294,-0.166677],[0.980211,-0.194609,0.036239],[-0.067526,-0.156635,0.985345]] 2025-10-27T04:08:36.064Z,1761538116.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:36.247Z,1761538116.247 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:08:36.417Z,1761538116.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187665,-0.968158,-0.165687],[0.979944,-0.196053,0.035666],[-0.067014,-0.155671,0.985533]] 2025-10-27T04:08:36.436Z,1761538116.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:36.822Z,1761538116.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189112,-0.968007,-0.164923],[0.979694,-0.197388,0.035175],[-0.066604,-0.154922,0.985679]] 2025-10-27T04:08:36.840Z,1761538116.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:37.234Z,1761538117.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190134,-0.967803,-0.164943],[0.979506,-0.198374,0.034857],[-0.066456,-0.154935,0.985687]] 2025-10-27T04:08:37.281Z,1761538117.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:37.630Z,1761538117.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191106,-0.967815,-0.163742],[0.979331,-0.199259,0.034749],[-0.066258,-0.153717,0.985891]] 2025-10-27T04:08:37.672Z,1761538117.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:38.034Z,1761538118.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191900,-0.967561,-0.164318],[0.979174,-0.200065,0.034519],[-0.066274,-0.154272,0.985803]] 2025-10-27T04:08:38.096Z,1761538118.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:38.439Z,1761538118.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192311,-0.967688,-0.163085],[0.979075,-0.200470,0.034983],[-0.066546,-0.152944,0.985992]] 2025-10-27T04:08:38.462Z,1761538118.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:38.842Z,1761538118.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192651,-0.967827,-0.161854],[0.978989,-0.200804,0.035463],[-0.066823,-0.151622,0.986177]] 2025-10-27T04:08:38.874Z,1761538118.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:39.251Z,1761538119.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192319,-0.967938,-0.161583],[0.979006,-0.200576,0.036289],[-0.067535,-0.151211,0.986192]] 2025-10-27T04:08:39.297Z,1761538119.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:39.656Z,1761538119.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191210,-0.968160,-0.161572],[0.979088,-0.199778,0.038404],[-0.069459,-0.150850,0.986113]] 2025-10-27T04:08:39.675Z,1761538119.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:40.061Z,1761538120.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190209,-0.968125,-0.162958],[0.979128,-0.199178,0.040443],[-0.071612,-0.151864,0.985804]] 2025-10-27T04:08:40.120Z,1761538120.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:40.462Z,1761538120.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189174,-0.968307,-0.163076],[0.979192,-0.198449,0.042447],[-0.073463,-0.151652,0.985700]] 2025-10-27T04:08:40.488Z,1761538120.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:40.866Z,1761538120.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187983,-0.968438,-0.163678],[0.979224,-0.197700,0.045106],[-0.076041,-0.151799,0.985482]] 2025-10-27T04:08:40.902Z,1761538120.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:41.329Z,1761538121.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:41.765Z,1761538121.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184562,-0.969601,-0.160654],[0.979413,-0.195049,0.052017],[-0.081771,-0.147747,0.985639]] 2025-10-27T04:08:41.817Z,1761538121.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:42.142Z,1761538122.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182689,-0.970095,-0.159815],[0.979531,-0.193566,0.055239],[-0.084522,-0.146452,0.985600]] 2025-10-27T04:08:42.178Z,1761538122.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:42.544Z,1761538122.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180490,-0.970460,-0.160096],[0.979708,-0.191805,0.058160],[-0.087149,-0.146351,0.985387]] 2025-10-27T04:08:42.575Z,1761538122.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:42.942Z,1761538122.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178186,-0.970748,-0.160927],[0.979919,-0.189932,0.060703],[-0.089493,-0.146879,0.985098]] 2025-10-27T04:08:42.961Z,1761538122.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:43.448Z,1761538123.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176548,-0.971008,-0.161163],[0.980082,-0.188549,0.062365],[-0.090944,-0.146943,0.984955]] 2025-10-27T04:08:43.485Z,1761538123.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:43.943Z,1761538123.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174778,-0.971410,-0.160674],[0.980301,-0.186927,0.063778],[-0.091989,-0.146362,0.984945]] 2025-10-27T04:08:43.984Z,1761538123.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:44.398Z,1761538124.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173242,-0.971887,-0.159447],[0.980537,-0.185388,0.064634],[-0.092376,-0.145147,0.985088]] 2025-10-27T04:08:44.460Z,1761538124.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:44.794Z,1761538124.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172043,-0.972555,-0.156644],[0.980772,-0.183981,0.065097],[-0.092130,-0.142433,0.985507]] 2025-10-27T04:08:44.827Z,1761538124.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:45.204Z,1761538125.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171829,-0.972789,-0.155421],[0.980861,-0.183608,0.064801],[-0.091574,-0.141311,0.985721]] 2025-10-27T04:08:45.280Z,1761538125.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:45.602Z,1761538125.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172056,-0.972307,-0.158162],[0.980877,-0.183926,0.063645],[-0.090973,-0.144187,0.985360]] 2025-10-27T04:08:45.655Z,1761538125.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:46.008Z,1761538126.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172824,-0.971733,-0.160832],[0.980821,-0.184729,0.062165],[-0.090119,-0.147004,0.985022]] 2025-10-27T04:08:46.065Z,1761538126.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:46.413Z,1761538126.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173387,-0.971421,-0.162106],[0.980753,-0.185316,0.061500],[-0.089783,-0.148323,0.984855]] 2025-10-27T04:08:46.449Z,1761538126.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:46.813Z,1761538126.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173907,-0.971284,-0.162369],[0.980646,-0.185869,0.061529],[-0.089941,-0.148527,0.984810]] 2025-10-27T04:08:46.842Z,1761538126.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:47.225Z,1761538127.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175783,-0.970652,-0.164116],[0.980307,-0.187838,0.060954],[-0.089992,-0.150169,0.984556]] 2025-10-27T04:08:47.275Z,1761538127.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:47.622Z,1761538127.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177875,-0.969885,-0.166384],[0.979883,-0.190120,0.060695],[-0.090501,-0.152240,0.984191]] 2025-10-27T04:08:47.645Z,1761538127.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:48.126Z,1761538128.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:48.430Z,1761538128.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182364,-0.969961,-0.160996],[0.979022,-0.194267,0.061450],[-0.090881,-0.146413,0.985040]] 2025-10-27T04:08:48.485Z,1761538128.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:48.833Z,1761538128.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183819,-0.970007,-0.159052],[0.978752,-0.195577,0.061602],[-0.090861,-0.144348,0.985346]] 2025-10-27T04:08:48.852Z,1761538128.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:49.304Z,1761538129.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186011,-0.970274,-0.154817],[0.978414,-0.197352,0.061298],[-0.090029,-0.140073,0.986040]] 2025-10-27T04:08:49.353Z,1761538129.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:49.730Z,1761538129.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186563,-0.970165,-0.154836],[0.978314,-0.197891,0.061157],[-0.089973,-0.140068,0.986045]] 2025-10-27T04:08:49.760Z,1761538129.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:50.237Z,1761538130.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:50.513Z,1761538130.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188412,-0.969697,-0.155524],[0.978331,-0.199165,0.056583],[-0.085844,-0.141493,0.986210]] 2025-10-27T04:08:50.546Z,1761538130.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:50.918Z,1761538130.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188529,-0.969611,-0.155918],[0.978515,-0.198957,0.054084],[-0.083462,-0.142371,0.986288]] 2025-10-27T04:08:50.936Z,1761538130.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:51.321Z,1761538131.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189154,-0.969187,-0.157792],[0.978637,-0.199250,0.050681],[-0.080559,-0.144834,0.986171]] 2025-10-27T04:08:51.390Z,1761538131.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:51.734Z,1761538131.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190118,-0.968498,-0.160831],[0.978671,-0.199946,0.047158],[-0.077830,-0.148435,0.985855]] 2025-10-27T04:08:51.752Z,1761538131.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:52.181Z,1761538132.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190727,-0.967886,-0.163770],[0.978723,-0.200353,0.044267],[-0.075658,-0.151842,0.985505]] 2025-10-27T04:08:52.258Z,1761538132.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:52.574Z,1761538132.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191618,-0.967459,-0.165242],[0.978710,-0.200968,0.041695],[-0.073547,-0.153734,0.985371]] 2025-10-27T04:08:52.593Z,1761538132.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:52.980Z,1761538132.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192419,-0.967246,-0.165558],[0.978691,-0.201479,0.039626],[-0.071685,-0.154406,0.985404]] 2025-10-27T04:08:53.003Z,1761538133.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:53.382Z,1761538133.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193455,-0.967316,-0.163935],[0.978636,-0.202111,0.037722],[-0.069622,-0.153135,0.985750]] 2025-10-27T04:08:53.430Z,1761538133.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:53.785Z,1761538133.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194778,-0.967564,-0.160874],[0.978518,-0.202981,0.036077],[-0.067562,-0.150391,0.986315]] 2025-10-27T04:08:53.808Z,1761538133.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:54.230Z,1761538134.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196415,-0.967682,-0.158152],[0.978321,-0.204207,0.034458],[-0.065640,-0.147956,0.986813]] 2025-10-27T04:08:54.272Z,1761538134.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:54.594Z,1761538134.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198127,-0.967518,-0.157021],[0.978105,-0.205563,0.032465],[-0.063688,-0.147151,0.987062]] 2025-10-27T04:08:54.625Z,1761538134.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:54.997Z,1761538134.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199896,-0.967151,-0.157035],[0.977871,-0.207017,0.030216],[-0.061732,-0.147520,0.987131]] 2025-10-27T04:08:55.016Z,1761538135.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:55.463Z,1761538135.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:55.806Z,1761538135.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202822,-0.967102,-0.153548],[0.977487,-0.209272,0.026908],[-0.058157,-0.144634,0.987775]] 2025-10-27T04:08:55.842Z,1761538135.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:56.253Z,1761538136.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203623,-0.966991,-0.153190],[0.977373,-0.209924,0.025973],[-0.057274,-0.144435,0.987855]] 2025-10-27T04:08:56.304Z,1761538136.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:56.614Z,1761538136.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204207,-0.967378,-0.149933],[0.977339,-0.210192,0.025044],[-0.055742,-0.141422,0.988379]] 2025-10-27T04:08:56.632Z,1761538136.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:57.020Z,1761538137.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204181,-0.967597,-0.148546],[0.977422,-0.209935,0.023972],[-0.054381,-0.140297,0.988615]] 2025-10-27T04:08:57.038Z,1761538137.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:57.422Z,1761538137.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204264,-0.967630,-0.148217],[0.977500,-0.209757,0.022257],[-0.052626,-0.140336,0.988704]] 2025-10-27T04:08:57.467Z,1761538137.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:57.826Z,1761538137.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203469,-0.967248,-0.151762],[0.977750,-0.208818,0.020015],[-0.051050,-0.144313,0.988214]] 2025-10-27T04:08:57.845Z,1761538137.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:58.289Z,1761538138.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202502,-0.967018,-0.154495],[0.978039,-0.207659,0.017830],[-0.049324,-0.147492,0.987833]] 2025-10-27T04:08:58.325Z,1761538138.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:58.669Z,1761538138.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201634,-0.966767,-0.157178],[0.978303,-0.206586,0.015656],[-0.047606,-0.150611,0.987446]] 2025-10-27T04:08:58.731Z,1761538138.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:59.100Z,1761538139.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200207,-0.966546,-0.160330],[0.978684,-0.204937,0.013359],[-0.045770,-0.154238,0.986973]] 2025-10-27T04:08:59.127Z,1761538139.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:59.501Z,1761538139.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198627,-0.966429,-0.162978],[0.979094,-0.203104,0.011114],[-0.043842,-0.157364,0.986567]] 2025-10-27T04:08:59.552Z,1761538139.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:08:59.906Z,1761538139.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196681,-0.966723,-0.163597],[0.979575,-0.200864,0.009267],[-0.041819,-0.158433,0.986484]] 2025-10-27T04:08:59.931Z,1761538139.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:00.317Z,1761538140.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194725,-0.966834,-0.165269],[0.980057,-0.198593,0.007044],[-0.039631,-0.160601,0.986223]] 2025-10-27T04:09:00.354Z,1761538140.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:00.726Z,1761538140.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192868,-0.967146,-0.165624],[0.980525,-0.196338,0.004683],[-0.037047,-0.161495,0.986178]] 2025-10-27T04:09:00.749Z,1761538140.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:01.119Z,1761538141.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190678,-0.967597,-0.165523],[0.981049,-0.193744,0.002427],[-0.034417,-0.161923,0.986203]] 2025-10-27T04:09:01.154Z,1761538141.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:01.156Z,1761538141.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:01.360Z,1761538141.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:01.360Z,1761538141.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:01.522Z,1761538141.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189030,-0.967937,-0.165423],[0.981470,-0.191614,-0.000347],[-0.031362,-0.162423,0.986223]] 2025-10-27T04:09:01.581Z,1761538141.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:01.612Z,1761538141.612 [DAT](INFO): DAT read: user:54> 2025-10-27T04:09:01.614Z,1761538141.614 [DAT](INFO): DAT read: Tx time:04:09:00.6811 2025-10-27T04:09:01.614Z,1761538141.614 [DAT](INFO): Ping request sent. 2025-10-27T04:09:01.614Z,1761538141.614 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:01.614Z,1761538141.614 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:01.616Z,1761538141.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001350 2025-10-27T04:09:01.864Z,1761538141.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249703 2025-10-27T04:09:01.926Z,1761538141.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187642,-0.968446,-0.164019],[0.981842,-0.189669,-0.003353],[-0.027862,-0.161670,0.986451]] 2025-10-27T04:09:01.944Z,1761538141.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:02.116Z,1761538142.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501838 2025-10-27T04:09:02.344Z,1761538142.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186308,-0.968766,-0.163650],[0.982184,-0.187812,-0.006373],[-0.024561,-0.161922,0.986498]] 2025-10-27T04:09:02.368Z,1761538142.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753843 2025-10-27T04:09:02.410Z,1761538142.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:02.620Z,1761538142.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005650 2025-10-27T04:09:02.736Z,1761538142.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185084,-0.968919,-0.164134],[0.982493,-0.186052,-0.009592],[-0.021244,-0.163036,0.986391]] 2025-10-27T04:09:02.777Z,1761538142.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:02.876Z,1761538142.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261530 2025-10-27T04:09:03.124Z,1761538143.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509712 2025-10-27T04:09:03.140Z,1761538143.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184240,-0.969089,-0.164078],[0.982717,-0.184681,-0.012697],[-0.017998,-0.163582,0.986366]] 2025-10-27T04:09:03.157Z,1761538143.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:03.376Z,1761538143.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761826 2025-10-27T04:09:03.542Z,1761538143.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183851,-0.969556,-0.161741],[0.982836,-0.183873,-0.014965],[-0.015231,-0.161716,0.986720]] 2025-10-27T04:09:03.579Z,1761538143.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:03.628Z,1761538143.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013842 2025-10-27T04:09:03.880Z,1761538143.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265751 2025-10-27T04:09:03.980Z,1761538143.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:04.132Z,1761538144.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517681 2025-10-27T04:09:04.370Z,1761538144.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184327,-0.970004,-0.158477],[0.982802,-0.183725,-0.018572],[-0.011101,-0.159175,0.987188]] 2025-10-27T04:09:04.384Z,1761538144.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769806 2025-10-27T04:09:04.414Z,1761538144.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:04.636Z,1761538144.636 [DAT](INFO): DAT read: Rx Time:04:09:03.3440 2025-10-27T04:09:04.637Z,1761538144.637 [DAT](INFO): Rx dataTimestamp_ set to:1761538144.636640 2025-10-27T04:09:04.638Z,1761538144.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023632 2025-10-27T04:09:04.754Z,1761538144.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184583,-0.970023,-0.158066],[0.982766,-0.183807,-0.019644],[-0.009999,-0.158967,0.987233]] 2025-10-27T04:09:04.776Z,1761538144.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:04.888Z,1761538144.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274109 2025-10-27T04:09:05.140Z,1761538145.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525717 2025-10-27T04:09:05.208Z,1761538145.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185743,-0.969761,-0.158316],[0.982557,-0.184794,-0.020826],[-0.009060,-0.159423,0.987169]] 2025-10-27T04:09:05.226Z,1761538145.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.56 m. 2025-10-27T04:09:05.399Z,1761538145.399 [DAT](INFO): DAT read: 04:09:03.3440 LVL= 32752, 31729, 32754, 29171, AGC= 72, IDX= 221,-0.38, 0.836, 1.928, 0.848, 0.387, PHS= 0.551, 1.586, 0.416, RAW= 336.0, -39.2, CAL= 335.9, -41.9, ROT= 174.1, 41.9 2025-10-27T04:09:05.400Z,1761538145.400 [DAT](INFO): got valid direction response: 04:09:03.3440 LVL= 32752, 31729, 32754, 29171, AGC= 72, IDX= 221,-0.38, 0.836, 1.928, 0.848, 0.387, PHS= 0.551, 1.586, 0.416, RAW= 336.0, -39.2, CAL= 335.9, -41.9, ROT= 174.1, 41.9 2025-10-27T04:09:05.401Z,1761538145.401 [DAT](INFO): DAT read: Bearing 116.8, 10.9 (Local) 2025-10-27T04:09:05.401Z,1761538145.401 [DAT](INFO): Local bearing/azimuth received: Bearing 116.8, 10.9 (Local) 2025-10-27T04:09:05.420Z,1761538145.420 [DAT](INFO): DAT read: Range 11 to 50 : 194.0 m (Round-trip 258.7 ms) speed -0.7 m/s 2025-10-27T04:09:05.420Z,1761538145.420 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:05.421Z,1761538145.421 [DAT](INFO): direction in FSK: [-0.740369,0.076510,-0.667833] 2025-10-27T04:09:05.422Z,1761538145.422 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:05.561Z,1761538145.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187381,-0.969497,-0.157998],[0.982257,-0.186198,-0.022392],[-0.007710,-0.159390,0.987186]] 2025-10-27T04:09:05.613Z,1761538145.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 194.000000 m, deltaT: 60.525676 s, deltaX: 98.000000 m, approachRate: 1.619148 m/s, rangeRepo size: 4 2025-10-27T04:09:05.615Z,1761538145.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 193.148483 m, bearing: 283.175045 deg, lat: 36.779443 deg, lon: -121.859530 deg, deltaT: 60.525676 s, deltaX: 97.586487 m, approachRate: 1.612316 m/s, posRepo size: 4 2025-10-27T04:09:05.616Z,1761538145.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.15 m. 2025-10-27T04:09:05.616Z,1761538145.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 194.00 m. Resuming terminal guidance. 2025-10-27T04:09:05.616Z,1761538145.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T04:09:05.967Z,1761538145.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189243,-0.969935,-0.153011],[0.981912,-0.187868,-0.023530],[-0.005923,-0.154697,0.987944]] 2025-10-27T04:09:05.983Z,1761538145.983 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T04:09:05.983Z,1761538145.983 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T04:09:05.984Z,1761538145.984 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T04:09:05.985Z,1761538145.985 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 194.000000 m (mode 1.000000 count ). 2025-10-27T04:09:05.985Z,1761538145.985 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T04:09:05.985Z,1761538145.985 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T04:09:06.389Z,1761538146.389 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:09:06.401Z,1761538146.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190653,-0.970691,-0.146324],[0.981649,-0.189142,-0.024300],[-0.004088,-0.148272,0.988938]] 2025-10-27T04:09:06.452Z,1761538146.452 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T04:09:06.452Z,1761538146.452 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T04:09:06.453Z,1761538146.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:06.652Z,1761538146.652 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:06.652Z,1761538146.652 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:06.653Z,1761538146.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:06.774Z,1761538146.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192537,-0.970904,-0.142389],[0.981288,-0.190733,-0.026337],[-0.001587,-0.144796,0.989460]] 2025-10-27T04:09:06.811Z,1761538146.811 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T04:09:06.811Z,1761538146.811 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T04:09:06.904Z,1761538146.904 [DAT](INFO): DAT read: user:55> 2025-10-27T04:09:06.905Z,1761538146.905 [DAT](INFO): DAT read: Tx time:04:09:05.9811 2025-10-27T04:09:06.906Z,1761538146.906 [DAT](INFO): Ping request sent. 2025-10-27T04:09:06.906Z,1761538146.906 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:06.906Z,1761538146.906 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:06.906Z,1761538146.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-27T04:09:07.156Z,1761538147.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250220 2025-10-27T04:09:07.185Z,1761538147.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194372,-0.970524,-0.142488],[0.980928,-0.192226,-0.028808],[0.000569,-0.145370,0.989377]] 2025-10-27T04:09:07.225Z,1761538147.225 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T04:09:07.225Z,1761538147.225 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T04:09:07.225Z,1761538147.225 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T04:09:07.225Z,1761538147.225 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T04:09:07.395Z,1761538147.395 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:09:07.411Z,1761538147.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504586 2025-10-27T04:09:07.585Z,1761538147.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195514,-0.970192,-0.143184],[0.980697,-0.192994,-0.031420],[0.002850,-0.146563,0.989197]] 2025-10-27T04:09:07.663Z,1761538147.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757397 2025-10-27T04:09:07.912Z,1761538147.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006199 2025-10-27T04:09:08.164Z,1761538148.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258179 2025-10-27T04:09:08.420Z,1761538148.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512986 2025-10-27T04:09:08.440Z,1761538148.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191286,-0.969270,-0.154679],[0.981495,-0.187483,-0.038945],[0.008749,-0.159266,0.987197]] 2025-10-27T04:09:08.492Z,1761538148.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:08.668Z,1761538148.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762204 2025-10-27T04:09:08.793Z,1761538148.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185218,-0.968033,-0.169135],[0.982628,-0.180392,-0.043600],[0.011696,-0.174272,0.984628]] 2025-10-27T04:09:08.921Z,1761538148.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853 2025-10-27T04:09:09.173Z,1761538149.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267461 2025-10-27T04:09:09.212Z,1761538149.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177695,-0.966396,-0.185750],[0.983974,-0.171635,-0.048340],[0.014835,-0.191363,0.981407]] 2025-10-27T04:09:09.426Z,1761538149.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520410 2025-10-27T04:09:09.602Z,1761538149.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166923,-0.964491,-0.204678],[0.985808,-0.159494,-0.052388],[0.017883,-0.210518,0.977426]] 2025-10-27T04:09:09.679Z,1761538149.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772157 2025-10-27T04:09:09.928Z,1761538149.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022298 2025-10-27T04:09:10.005Z,1761538150.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153176,-0.961999,-0.226041],[0.987964,-0.144093,-0.056249],[0.021540,-0.231936,0.972492]] 2025-10-27T04:09:10.181Z,1761538150.181 [DAT](INFO): DAT read: Rx Time:04:09:08.6461 2025-10-27T04:09:10.181Z,1761538150.181 [DAT](INFO): Rx dataTimestamp_ set to:1761538150.180924 2025-10-27T04:09:10.189Z,1761538150.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276761 2025-10-27T04:09:10.435Z,1761538150.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528735 2025-10-27T04:09:10.512Z,1761538150.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115050,-0.955110,-0.273000],[0.992865,-0.101889,-0.061955],[0.031358,-0.278180,0.960017]] 2025-10-27T04:09:10.556Z,1761538150.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:10.693Z,1761538150.693 [DAT](INFO): DAT read: 04:09:08.6461 LVL= 32752, 31265, 32754, 32755, AGC= 71, IDX= 118,-0.20,-0.409, 1.496,-0.039, 0.312, PHS=-0.619, 1.229,-0.395, RAW= 323.6, -2.5, CAL= 322.6, -5.6, ROT= 187.4, 5.6 2025-10-27T04:09:10.696Z,1761538150.696 [DAT](INFO): got valid direction response: 04:09:08.6461 LVL= 32752, 31265, 32754, 32755, AGC= 71, IDX= 118,-0.20,-0.409, 1.496,-0.039, 0.312, PHS=-0.619, 1.229,-0.395, RAW= 323.6, -2.5, CAL= 322.6, -5.6, ROT= 187.4, 5.6 2025-10-27T04:09:10.698Z,1761538150.698 [DAT](INFO): DAT read: Bearing 79.6, -7.1 (Local) 2025-10-27T04:09:10.698Z,1761538150.698 [DAT](INFO): Local bearing/azimuth received: Bearing 79.6, -7.1 (Local) 2025-10-27T04:09:10.701Z,1761538150.701 [DAT](INFO): DAT read: Range 11 to 50 : 195.6 m (Round-trip 260.9 ms) speed -0.4 m/s 2025-10-27T04:09:10.701Z,1761538150.701 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:10.703Z,1761538150.703 [DAT](INFO): direction in FSK: [-0.986938,-0.128181,-0.097583] 2025-10-27T04:09:10.704Z,1761538150.704 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:10.709Z,1761538150.709 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:10.709Z,1761538150.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:10.710Z,1761538150.710 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:10.916Z,1761538150.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 195.600006 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T04:09:10.918Z,1761538150.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 194.748245 m, bearing: 285.287332 deg, lat: 36.779443 deg, lon: -121.859539 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T04:09:10.919Z,1761538150.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.75 m. 2025-10-27T04:09:10.922Z,1761538150.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 194.748245 m, nav range: 147.888916 m, bearing: 283.156660 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 282.196907 deg, new cmd heading: 283.156660 deg. 2025-10-27T04:09:10.922Z,1761538150.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.942016 target range: 194.748245 and range: 195.60 m. 2025-10-27T04:09:10.936Z,1761538150.936 [DAT](INFO): DAT read: user:56> 2025-10-27T04:09:10.937Z,1761538150.937 [DAT](INFO): DAT read: Tx time:04:09:10.0311 2025-10-27T04:09:10.937Z,1761538150.937 [DAT](INFO): Ping request sent. 2025-10-27T04:09:10.937Z,1761538150.937 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:10.937Z,1761538150.937 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:10.938Z,1761538150.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-27T04:09:11.189Z,1761538151.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251992 2025-10-27T04:09:11.278Z,1761538151.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092341,-0.951914,-0.292119],[0.995050,-0.077395,-0.062339],[0.036733,-0.296429,0.954348]] 2025-10-27T04:09:11.301Z,1761538151.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.75 m. 2025-10-27T04:09:11.304Z,1761538151.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 194.748245 m, nav range: 148.207306 m, bearing: 283.139946 deg, approach rate: 0.824334 m/s, LOS rate: -0.043180 deg/s, cmd heading: 283.156666 deg, new cmd heading: 283.139946 deg. 2025-10-27T04:09:11.305Z,1761538151.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941724 target range: 194.748245 and range: 195.60 m. 2025-10-27T04:09:11.443Z,1761538151.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505179 2025-10-27T04:09:11.693Z,1761538151.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756000 2025-10-27T04:09:11.706Z,1761538151.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044209,-0.945920,-0.321375],[0.997852,-0.026240,-0.060031],[0.048352,-0.323338,0.945047]] 2025-10-27T04:09:11.765Z,1761538151.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.75 m. 2025-10-27T04:09:11.768Z,1761538151.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 194.748245 m, nav range: 148.551498 m, bearing: 283.115995 deg, approach rate: 0.742548 m/s, LOS rate: -0.051550 deg/s, cmd heading: 283.139946 deg, new cmd heading: 283.115995 deg. 2025-10-27T04:09:11.768Z,1761538151.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941306 target range: 194.748245 and range: 195.60 m. 2025-10-27T04:09:11.947Z,1761538151.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009616 2025-10-27T04:09:12.197Z,1761538152.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259714 2025-10-27T04:09:12.213Z,1761538152.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019514,-0.942957,-0.332343],[0.998322,-0.000253,-0.057901],[0.054514,-0.332915,0.941380]] 2025-10-27T04:09:12.238Z,1761538152.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.75 m. 2025-10-27T04:09:12.241Z,1761538152.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 194.748245 m, nav range: 148.900726 m, bearing: 283.088330 deg, approach rate: 0.737759 m/s, LOS rate: -0.058306 deg/s, cmd heading: 283.115986 deg, new cmd heading: 283.088330 deg. 2025-10-27T04:09:12.242Z,1761538152.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.940824 target range: 194.748245 and range: 195.60 m. 2025-10-27T04:09:12.451Z,1761538152.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513253 2025-10-27T04:09:12.700Z,1761538152.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763367 2025-10-27T04:09:12.720Z,1761538152.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005321,-0.940669,-0.339284],[0.998148,0.025557,-0.055206],[0.060601,-0.338362,0.939063]] 2025-10-27T04:09:12.769Z,1761538152.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:12.771Z,1761538152.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.75 m. 2025-10-27T04:09:12.774Z,1761538152.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 194.748245 m, nav range: 149.272110 m, bearing: 283.057245 deg, approach rate: 0.697057 m/s, LOS rate: -0.058199 deg/s, cmd heading: 283.088337 deg, new cmd heading: 283.057245 deg. 2025-10-27T04:09:12.774Z,1761538152.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.940281 target range: 194.748245 and range: 195.60 m. 2025-10-27T04:09:12.952Z,1761538152.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932 2025-10-27T04:09:13.204Z,1761538153.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266911 2025-10-27T04:09:13.222Z,1761538153.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029943,-0.939904,-0.340123],[0.997355,0.050642,-0.052143],[0.066234,-0.337662,0.938934]] 2025-10-27T04:09:13.241Z,1761538153.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.75 m. 2025-10-27T04:09:13.243Z,1761538153.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 194.748245 m, nav range: 149.598129 m, bearing: 283.026846 deg, approach rate: 0.694150 m/s, LOS rate: -0.064584 deg/s, cmd heading: 283.057246 deg, new cmd heading: 283.026846 deg. 2025-10-27T04:09:13.244Z,1761538153.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.939750 target range: 194.748245 and range: 195.60 m. 2025-10-27T04:09:13.460Z,1761538153.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522214 2025-10-27T04:09:13.618Z,1761538153.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054717,-0.942045,-0.330996],[0.995943,0.075206,-0.049405],[0.071434,-0.326950,0.942338]] 2025-10-27T04:09:13.660Z,1761538153.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.75 m. 2025-10-27T04:09:13.663Z,1761538153.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 194.748245 m, nav range: 149.858215 m, bearing: 282.992868 deg, approach rate: 0.619670 m/s, LOS rate: -0.080815 deg/s, cmd heading: 283.026838 deg, new cmd heading: 282.992868 deg. 2025-10-27T04:09:13.664Z,1761538153.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.939157 target range: 194.748245 and range: 195.60 m. 2025-10-27T04:09:13.709Z,1761538153.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771666 2025-10-27T04:09:13.960Z,1761538153.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022819 2025-10-27T04:09:14.022Z,1761538154.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078997,-0.946381,-0.313244],[0.993963,0.098777,-0.047761],[0.076141,-0.307580,0.948471]] 2025-10-27T04:09:14.048Z,1761538154.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.75 m. 2025-10-27T04:09:14.051Z,1761538154.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 194.748245 m, nav range: 150.096497 m, bearing: 282.959300 deg, approach rate: 0.614466 m/s, LOS rate: -0.086426 deg/s, cmd heading: 282.992878 deg, new cmd heading: 282.959300 deg. 2025-10-27T04:09:14.052Z,1761538154.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.938571 target range: 194.748245 and range: 195.60 m. 2025-10-27T04:09:14.212Z,1761538154.212 [DAT](INFO): DAT read: Rx Time:04:09:12.6984 2025-10-27T04:09:14.212Z,1761538154.212 [DAT](INFO): Rx dataTimestamp_ set to:1761538154.212120 2025-10-27T04:09:14.213Z,1761538154.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275910 2025-10-27T04:09:14.427Z,1761538154.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103440,-0.950909,-0.291672],[0.991382,0.122269,-0.047034],[0.080388,-0.284293,0.955361]] 2025-10-27T04:09:14.479Z,1761538154.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541661 2025-10-27T04:09:14.521Z,1761538154.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.75 m. 2025-10-27T04:09:14.551Z,1761538154.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 194.748245 m, nav range: 150.341721 m, bearing: 282.922171 deg, approach rate: 0.525069 m/s, LOS rate: -0.079369 deg/s, cmd heading: 282.959301 deg, new cmd heading: 282.922171 deg. 2025-10-27T04:09:14.559Z,1761538154.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.937923 target range: 194.748245 and range: 195.60 m. 2025-10-27T04:09:14.733Z,1761538154.733 [DAT](INFO): DAT read: 04:09:12.6984 LVL= 32752, 32337, 32754, 32755, AGC= 69, IDX= 125,-0.08, 0.122, 2.345, 1.014, 1.233, PHS=-1.009, 1.157,-0.263, RAW= 310.2, 1.2, CAL= 308.1, -2.0, ROT= 201.9, 2.0 2025-10-27T04:09:14.734Z,1761538154.734 [DAT](INFO): got valid direction response: 04:09:12.6984 LVL= 32752, 32337, 32754, 32755, AGC= 69, IDX= 125,-0.08, 0.122, 2.345, 1.014, 1.233, PHS=-1.009, 1.157,-0.263, RAW= 310.2, 1.2, CAL= 308.1, -2.0, ROT= 201.9, 2.0 2025-10-27T04:09:14.736Z,1761538154.736 [DAT](INFO): DAT read: Bearing 67.8, -24.7 (Local) 2025-10-27T04:09:14.737Z,1761538154.737 [DAT](INFO): Local bearing/azimuth received: Bearing 67.8, -24.7 (Local) 2025-10-27T04:09:14.738Z,1761538154.738 [DAT](INFO): DAT read: Range 11 to 50 : 197.3 m (Round-trip 263.1 ms) speed -1.2 m/s 2025-10-27T04:09:14.739Z,1761538154.739 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:14.750Z,1761538154.750 [DAT](INFO): direction in FSK: [-0.927271,-0.372760,-0.034899] 2025-10-27T04:09:14.750Z,1761538154.750 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:14.753Z,1761538154.753 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:14.753Z,1761538154.753 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:14.754Z,1761538154.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:14.952Z,1761538154.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 197.300003 m, deltaT: 4.043503 s, deltaX: 1.699997 m, approachRate: 0.420427 m/s, rangeRepo size: 2 2025-10-27T04:09:14.954Z,1761538154.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 196.456070 m, bearing: 285.588357 deg, lat: 36.779445 deg, lon: -121.859548 deg, deltaT: 4.043503 s, deltaX: 1.707825 m, approachRate: 0.422363 m/s, posRepo size: 2 2025-10-27T04:09:14.954Z,1761538154.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:14.961Z,1761538154.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 151.441467 m, bearing: 282.885404 deg, approach rate: 0.000000 m/s, LOS rate: -0.079369 deg/s, cmd heading: 282.922172 deg, new cmd heading: 282.819416 deg. 2025-10-27T04:09:14.962Z,1761538154.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.936130 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:14.980Z,1761538154.980 [DAT](INFO): DAT read: user:57> 2025-10-27T04:09:14.981Z,1761538154.981 [DAT](INFO): DAT read: Tx time:04:09:14.0811 2025-10-27T04:09:14.981Z,1761538154.981 [DAT](INFO): Ping request sent. 2025-10-27T04:09:14.981Z,1761538154.981 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:14.981Z,1761538154.981 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:14.982Z,1761538154.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-27T04:09:15.234Z,1761538155.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252536 2025-10-27T04:09:15.294Z,1761538155.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177022,-0.948796,-0.261630],[0.980063,0.194301,-0.041505],[0.090215,-0.249067,0.964275]] 2025-10-27T04:09:15.317Z,1761538155.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:15.319Z,1761538155.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:15.322Z,1761538155.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 151.655823 m, bearing: 282.843822 deg, approach rate: 0.575520 m/s, LOS rate: -0.111484 deg/s, cmd heading: 282.819419 deg, new cmd heading: 282.694851 deg. 2025-10-27T04:09:15.323Z,1761538155.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.933956 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:15.487Z,1761538155.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505638 2025-10-27T04:09:15.702Z,1761538155.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202453,-0.943961,-0.260674],[0.974907,0.219437,-0.037469],[0.092571,-0.246547,0.964700]] 2025-10-27T04:09:15.736Z,1761538155.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754911 2025-10-27T04:09:15.753Z,1761538155.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:15.757Z,1761538155.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 151.893173 m, bearing: 282.798636 deg, approach rate: 0.546647 m/s, LOS rate: -0.103907 deg/s, cmd heading: 282.694863 deg, new cmd heading: 282.559516 deg. 2025-10-27T04:09:15.758Z,1761538155.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.931594 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:15.988Z,1761538155.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006858 2025-10-27T04:09:16.094Z,1761538156.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228508,-0.937030,-0.264120],[0.968918,0.245305,-0.032004],[0.094778,-0.248597,0.963959]] 2025-10-27T04:09:16.130Z,1761538156.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:16.132Z,1761538156.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 152.086487 m, bearing: 282.759474 deg, approach rate: 0.513941 m/s, LOS rate: -0.103983 deg/s, cmd heading: 282.559516 deg, new cmd heading: 282.442180 deg. 2025-10-27T04:09:16.133Z,1761538156.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929546 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:16.240Z,1761538156.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258878 2025-10-27T04:09:16.496Z,1761538156.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514603 2025-10-27T04:09:16.621Z,1761538156.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:16.624Z,1761538156.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 152.372894 m, bearing: 282.704587 deg, approach rate: 0.582969 m/s, LOS rate: -0.111511 deg/s, cmd heading: 282.442174 deg, new cmd heading: 282.277822 deg. 2025-10-27T04:09:16.625Z,1761538156.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.926677 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:16.744Z,1761538156.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762862 2025-10-27T04:09:16.944Z,1761538156.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:16.947Z,1761538156.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 152.569153 m, bearing: 282.667112 deg, approach rate: 0.606466 m/s, LOS rate: -0.115654 deg/s, cmd heading: 282.277812 deg, new cmd heading: 282.165531 deg. 2025-10-27T04:09:16.948Z,1761538156.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.924717 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:16.996Z,1761538156.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014955 2025-10-27T04:09:17.248Z,1761538157.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266742 2025-10-27T04:09:17.398Z,1761538157.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306593,-0.909749,-0.279925],[0.946460,0.322604,-0.011825],[0.101062,-0.261312,0.959949]] 2025-10-27T04:09:17.414Z,1761538157.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:17.416Z,1761538157.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:17.419Z,1761538157.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 152.830811 m, bearing: 282.606882 deg, approach rate: 0.554350 m/s, LOS rate: -0.127385 deg/s, cmd heading: 282.165524 deg, new cmd heading: 281.985144 deg. 2025-10-27T04:09:17.420Z,1761538157.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.921569 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:17.501Z,1761538157.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519552 2025-10-27T04:09:17.752Z,1761538157.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770779 2025-10-27T04:09:17.793Z,1761538157.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332426,-0.898794,-0.285766],[0.937498,0.347970,-0.003864],[0.102911,-0.266621,0.958292]] 2025-10-27T04:09:17.808Z,1761538157.808 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -21.92, .5 20.00,683.07 2025-10-27T04:09:17.841Z,1761538157.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:17.843Z,1761538157.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 153.062286 m, bearing: 282.550503 deg, approach rate: 0.545663 m/s, LOS rate: -0.132702 deg/s, cmd heading: 281.985152 deg, new cmd heading: 281.816272 deg. 2025-10-27T04:09:17.844Z,1761538157.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.918622 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:18.005Z,1761538158.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024028 2025-10-27T04:09:18.256Z,1761538158.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274850 2025-10-27T04:09:18.298Z,1761538158.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357680,-0.888137,-0.288578],[0.928006,0.372546,0.003664],[0.104254,-0.269113,0.957449]] 2025-10-27T04:09:18.317Z,1761538158.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:18.320Z,1761538158.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 153.317352 m, bearing: 282.484898 deg, approach rate: 0.535673 m/s, LOS rate: -0.137549 deg/s, cmd heading: 281.816283 deg, new cmd heading: 281.619797 deg. 2025-10-27T04:09:18.321Z,1761538158.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915193 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:18.512Z,1761538158.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530409 2025-10-27T04:09:18.729Z,1761538158.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382433,-0.876811,-0.291456],[0.917978,0.396454,0.011837],[0.105170,-0.272078,0.956511]] 2025-10-27T04:09:18.760Z,1761538158.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778734 2025-10-27T04:09:18.794Z,1761538158.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:18.800Z,1761538158.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 153.617905 m, bearing: 282.421309 deg, approach rate: 0.630241 m/s, LOS rate: -0.133082 deg/s, cmd heading: 281.619792 deg, new cmd heading: 281.429398 deg. 2025-10-27T04:09:18.801Z,1761538158.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.911870 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:19.012Z,1761538159.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030847 2025-10-27T04:09:19.127Z,1761538159.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407053,-0.865732,-0.291231],[0.907280,0.420083,0.019337],[0.105600,-0.272099,0.956457]] 2025-10-27T04:09:19.146Z,1761538159.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:19.149Z,1761538159.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 153.845261 m, bearing: 282.370331 deg, approach rate: 0.645373 m/s, LOS rate: -0.144491 deg/s, cmd heading: 281.429393 deg, new cmd heading: 281.276687 deg. 2025-10-27T04:09:19.150Z,1761538159.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909204 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:19.264Z,1761538159.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282860 2025-10-27T04:09:19.516Z,1761538159.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534699 2025-10-27T04:09:19.538Z,1761538159.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430314,-0.855508,-0.287986],[0.896442,0.442448,0.025120],[0.105929,-0.268972,0.957305]] 2025-10-27T04:09:19.614Z,1761538159.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:19.620Z,1761538159.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:19.622Z,1761538159.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 154.134918 m, bearing: 282.301799 deg, approach rate: 0.611167 m/s, LOS rate: -0.144329 deg/s, cmd heading: 281.276698 deg, new cmd heading: 281.071488 deg. 2025-10-27T04:09:19.628Z,1761538159.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.905623 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:19.768Z,1761538159.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786882 2025-10-27T04:09:20.020Z,1761538160.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038854 2025-10-27T04:09:20.035Z,1761538160.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:20.037Z,1761538160.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 154.419342 m, bearing: 282.242196 deg, approach rate: 0.685983 m/s, LOS rate: -0.143488 deg/s, cmd heading: 281.071491 deg, new cmd heading: 280.893012 deg. 2025-10-27T04:09:20.038Z,1761538160.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.902508 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:20.272Z,1761538160.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290850 2025-10-27T04:09:20.452Z,1761538160.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475214,-0.835114,-0.277048],[0.873546,0.485484,0.034965],[0.105303,-0.258630,0.960220]] 2025-10-27T04:09:20.488Z,1761538160.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:20.497Z,1761538160.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 154.707321 m, bearing: 282.174812 deg, approach rate: 0.635710 m/s, LOS rate: -0.148471 deg/s, cmd heading: 280.893005 deg, new cmd heading: 280.691232 deg. 2025-10-27T04:09:20.497Z,1761538160.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898986 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:20.526Z,1761538160.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544554 2025-10-27T04:09:20.777Z,1761538160.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795276 2025-10-27T04:09:21.025Z,1761538161.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517439,-0.812456,-0.268650],[0.849462,0.525585,0.046641],[0.103304,-0.252342,0.962108]] 2025-10-27T04:09:21.028Z,1761538161.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046920 2025-10-27T04:09:21.091Z,1761538161.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:21.094Z,1761538161.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 155.111221 m, bearing: 282.076333 deg, approach rate: 0.673957 m/s, LOS rate: -0.163896 deg/s, cmd heading: 280.691241 deg, new cmd heading: 280.396577 deg. 2025-10-27T04:09:21.095Z,1761538161.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.893844 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:21.281Z,1761538161.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299519 2025-10-27T04:09:21.532Z,1761538161.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550776 2025-10-27T04:09:21.597Z,1761538161.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537904,-0.800789,-0.263432],[0.836874,0.544872,0.052502],[0.101494,-0.248700,0.963248]] 2025-10-27T04:09:21.647Z,1761538161.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:21.649Z,1761538161.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:21.652Z,1761538161.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 155.508530 m, bearing: 281.974983 deg, approach rate: 0.706130 m/s, LOS rate: -0.179668 deg/s, cmd heading: 280.396587 deg, new cmd heading: 280.093315 deg. 2025-10-27T04:09:21.653Z,1761538161.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888551 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:21.785Z,1761538161.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803331 2025-10-27T04:09:21.994Z,1761538161.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558597,-0.786990,-0.261946],[0.823514,0.563905,0.061937],[0.098969,-0.250314,0.963093]] 2025-10-27T04:09:22.030Z,1761538162.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:22.036Z,1761538162.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054896 2025-10-27T04:09:22.053Z,1761538162.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 155.756027 m, bearing: 281.910695 deg, approach rate: 0.650645 m/s, LOS rate: -0.168737 deg/s, cmd heading: 280.093326 deg, new cmd heading: 279.900771 deg. 2025-10-27T04:09:22.054Z,1761538162.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.885190 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:22.288Z,1761538162.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306946 2025-10-27T04:09:22.394Z,1761538162.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578764,-0.773617,-0.257973],[0.809803,0.582522,0.069912],[0.096190,-0.249370,0.963619]] 2025-10-27T04:09:22.414Z,1761538162.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:22.433Z,1761538162.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 156.000076 m, bearing: 281.844221 deg, approach rate: 0.634746 m/s, LOS rate: -0.172621 deg/s, cmd heading: 279.900770 deg, new cmd heading: 279.701661 deg. 2025-10-27T04:09:22.434Z,1761538162.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.881715 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:22.544Z,1761538162.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563101 2025-10-27T04:09:22.792Z,1761538162.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810948 2025-10-27T04:09:22.799Z,1761538162.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599103,-0.759449,-0.253598],[0.795243,0.601226,0.078202],[0.093080,-0.248523,0.964143]] 2025-10-27T04:09:22.848Z,1761538162.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:22.851Z,1761538162.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 156.259735 m, bearing: 281.768206 deg, approach rate: 0.598247 m/s, LOS rate: -0.174848 deg/s, cmd heading: 279.701656 deg, new cmd heading: 279.473988 deg. 2025-10-27T04:09:22.852Z,1761538162.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.877741 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:23.044Z,1761538163.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062751 2025-10-27T04:09:23.205Z,1761538163.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619382,-0.744610,-0.248841],[0.779955,0.619795,0.086740],[0.089643,-0.247810,0.964652]] 2025-10-27T04:09:23.223Z,1761538163.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:23.226Z,1761538163.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 156.478363 m, bearing: 281.701075 deg, approach rate: 0.583361 m/s, LOS rate: -0.178872 deg/s, cmd heading: 279.473992 deg, new cmd heading: 279.272884 deg. 2025-10-27T04:09:23.227Z,1761538163.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874231 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:23.298Z,1761538163.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316471 2025-10-27T04:09:23.548Z,1761538163.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566845 2025-10-27T04:09:23.637Z,1761538163.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639137,-0.730104,-0.241769],[0.764268,0.638087,0.093484],[0.086017,-0.244525,0.965820]] 2025-10-27T04:09:23.691Z,1761538163.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:23.698Z,1761538163.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:23.703Z,1761538163.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 156.743744 m, bearing: 281.615735 deg, approach rate: 0.558785 m/s, LOS rate: -0.179388 deg/s, cmd heading: 279.272884 deg, new cmd heading: 279.017298 deg. 2025-10-27T04:09:23.704Z,1761538163.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869771 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:23.801Z,1761538163.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819216 2025-10-27T04:09:24.010Z,1761538164.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658891,-0.714020,-0.236724],[0.747765,0.655964,0.102753],[0.081915,-0.244717,0.966128]] 2025-10-27T04:09:24.052Z,1761538164.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071044 2025-10-27T04:09:24.058Z,1761538164.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:24.061Z,1761538164.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 156.930084 m, bearing: 281.544973 deg, approach rate: 0.517749 m/s, LOS rate: -0.196380 deg/s, cmd heading: 279.017298 deg, new cmd heading: 278.805265 deg. 2025-10-27T04:09:24.062Z,1761538164.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866070 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:24.304Z,1761538164.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322831 2025-10-27T04:09:24.414Z,1761538164.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678548,-0.697427,-0.230580],[0.730451,0.673789,0.111579],[0.077545,-0.244139,0.966635]] 2025-10-27T04:09:24.441Z,1761538164.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:24.445Z,1761538164.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 157.119507 m, bearing: 281.469453 deg, approach rate: 0.494608 m/s, LOS rate: -0.196953 deg/s, cmd heading: 278.805262 deg, new cmd heading: 278.578979 deg. 2025-10-27T04:09:24.445Z,1761538164.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862121 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:24.556Z,1761538164.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574993 2025-10-27T04:09:24.808Z,1761538164.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826890 2025-10-27T04:09:24.820Z,1761538164.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698063,-0.680336,-0.223272],[0.712297,0.691621,0.119557],[0.073081,-0.242494,0.967396]] 2025-10-27T04:09:24.876Z,1761538164.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:24.879Z,1761538164.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 157.292404 m, bearing: 281.388229 deg, approach rate: 0.397514 m/s, LOS rate: -0.186540 deg/s, cmd heading: 278.578991 deg, new cmd heading: 278.335588 deg. 2025-10-27T04:09:24.884Z,1761538164.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857872 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:25.060Z,1761538165.060 [DAT](INFO): Reached modem response timeout 2025-10-27T04:09:25.060Z,1761538165.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:25.060Z,1761538165.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:25.224Z,1761538165.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717007,-0.662867,-0.215657],[0.693713,0.708857,0.127607],[0.068284,-0.241099,0.968095]] 2025-10-27T04:09:25.243Z,1761538165.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:25.246Z,1761538165.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 157.448486 m, bearing: 281.311077 deg, approach rate: 0.425190 m/s, LOS rate: -0.209965 deg/s, cmd heading: 278.335591 deg, new cmd heading: 278.104365 deg. 2025-10-27T04:09:25.247Z,1761538165.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853837 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:25.314Z,1761538165.314 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:25.568Z,1761538165.568 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:25.723Z,1761538165.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:25.726Z,1761538165.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:25.729Z,1761538165.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 157.631958 m, bearing: 281.220754 deg, approach rate: 0.379796 m/s, LOS rate: -0.186756 deg/s, cmd heading: 278.104375 deg, new cmd heading: 277.833722 deg. 2025-10-27T04:09:25.730Z,1761538165.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849113 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:25.820Z,1761538165.820 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:26.032Z,1761538166.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754059,-0.626524,-0.197137],[0.654171,0.743270,0.140037],[0.058790,-0.234558,0.970323]] 2025-10-27T04:09:26.068Z,1761538166.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:26.072Z,1761538166.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:26.072Z,1761538166.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 157.748367 m, bearing: 281.146788 deg, approach rate: 0.340086 m/s, LOS rate: -0.215929 deg/s, cmd heading: 277.833736 deg, new cmd heading: 277.612004 deg. 2025-10-27T04:09:26.073Z,1761538166.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845243 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:26.324Z,1761538166.324 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:26.436Z,1761538166.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771931,-0.606924,-0.189117],[0.633424,0.759521,0.147991],[0.053819,-0.234030,0.970738]] 2025-10-27T04:09:26.457Z,1761538166.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:26.460Z,1761538166.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 157.864868 m, bearing: 281.068136 deg, approach rate: 0.299627 m/s, LOS rate: -0.202135 deg/s, cmd heading: 277.612001 deg, new cmd heading: 277.376220 deg. 2025-10-27T04:09:26.461Z,1761538166.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841128 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:26.576Z,1761538166.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:26.828Z,1761538166.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:26.839Z,1761538166.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789683,-0.585932,-0.181891],[0.611580,0.775330,0.157588],[0.048690,-0.235685,0.970609]] 2025-10-27T04:09:26.891Z,1761538166.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:26.894Z,1761538166.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 157.973526 m, bearing: 280.979562 deg, approach rate: 0.250409 m/s, LOS rate: -0.203984 deg/s, cmd heading: 277.376222 deg, new cmd heading: 277.110685 deg. 2025-10-27T04:09:26.896Z,1761538166.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836494 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:27.083Z,1761538167.083 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:09:27.287Z,1761538167.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:27.290Z,1761538167.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 158.071960 m, bearing: 280.899679 deg, approach rate: 0.248686 m/s, LOS rate: -0.201692 deg/s, cmd heading: 277.110692 deg, new cmd heading: 276.871193 deg. 2025-10-27T04:09:27.307Z,1761538167.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832314 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:27.332Z,1761538167.332 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:09:27.332Z,1761538167.332 [DAT](INFO): response not received 2025-10-27T04:09:27.333Z,1761538167.333 [DAT](INFO): DAT read: user:58> 2025-10-27T04:09:27.333Z,1761538167.333 [DAT](INFO): DAT read: Tx time:04:09:26.5311 2025-10-27T04:09:27.334Z,1761538167.334 [DAT](INFO): Ping request sent. 2025-10-27T04:09:27.334Z,1761538167.334 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:27.334Z,1761538167.334 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:27.335Z,1761538167.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-10-27T04:09:27.584Z,1761538167.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249983 2025-10-27T04:09:27.649Z,1761538167.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823198,-0.542149,-0.168582],[0.566417,0.804591,0.178340],[0.038953,-0.242297,0.969420]] 2025-10-27T04:09:27.737Z,1761538167.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:27.739Z,1761538167.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:27.745Z,1761538167.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 158.169876 m, bearing: 280.806889 deg, approach rate: 0.216770 m/s, LOS rate: -0.205294 deg/s, cmd heading: 276.871198 deg, new cmd heading: 276.593005 deg. 2025-10-27T04:09:27.746Z,1761538167.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827459 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:27.836Z,1761538167.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502034 2025-10-27T04:09:28.088Z,1761538168.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753986 2025-10-27T04:09:28.144Z,1761538168.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:28.147Z,1761538168.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 158.253006 m, bearing: 280.723729 deg, approach rate: 0.204882 m/s, LOS rate: -0.204849 deg/s, cmd heading: 276.593018 deg, new cmd heading: 276.343669 deg. 2025-10-27T04:09:28.148Z,1761538168.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823107 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:28.341Z,1761538168.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006627 2025-10-27T04:09:28.593Z,1761538168.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258659 2025-10-27T04:09:28.732Z,1761538168.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:28.734Z,1761538168.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 158.361023 m, bearing: 280.616293 deg, approach rate: 0.183857 m/s, LOS rate: -0.182742 deg/s, cmd heading: 276.343662 deg, new cmd heading: 276.021579 deg. 2025-10-27T04:09:28.740Z,1761538168.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817485 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:28.844Z,1761538168.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509996 2025-10-27T04:09:29.097Z,1761538169.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762386 2025-10-27T04:09:29.195Z,1761538169.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880002,-0.455915,-0.133186],[0.474535,0.855930,0.205428],[0.020340,-0.243978,0.969567]] 2025-10-27T04:09:29.241Z,1761538169.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:29.244Z,1761538169.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 158.448914 m, bearing: 280.500810 deg, approach rate: 0.172658 m/s, LOS rate: -0.226737 deg/s, cmd heading: 276.021577 deg, new cmd heading: 275.675323 deg. 2025-10-27T04:09:29.245Z,1761538169.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811442 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:29.348Z,1761538169.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013999 2025-10-27T04:09:29.604Z,1761538169.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270056 2025-10-27T04:09:29.704Z,1761538169.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892231,-0.434370,-0.123477],[0.451277,0.867654,0.208627],[0.016514,-0.241866,0.970169]] 2025-10-27T04:09:29.769Z,1761538169.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:29.775Z,1761538169.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:29.778Z,1761538169.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 158.523956 m, bearing: 280.391979 deg, approach rate: 0.141582 m/s, LOS rate: -0.205232 deg/s, cmd heading: 275.675314 deg, new cmd heading: 275.348979 deg. 2025-10-27T04:09:29.779Z,1761538169.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805746 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:29.856Z,1761538169.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522360 2025-10-27T04:09:30.108Z,1761538170.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774083 2025-10-27T04:09:30.114Z,1761538170.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913998,-0.391303,-0.107188],[0.405589,0.887919,0.217022],[0.010252,-0.241832,0.970264]] 2025-10-27T04:09:30.175Z,1761538170.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:30.184Z,1761538170.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 158.582947 m, bearing: 280.310650 deg, approach rate: 0.147818 m/s, LOS rate: -0.203718 deg/s, cmd heading: 275.348968 deg, new cmd heading: 275.105074 deg. 2025-10-27T04:09:30.185Z,1761538170.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801489 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:30.360Z,1761538170.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026003 2025-10-27T04:09:30.510Z,1761538170.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923743,-0.369632,-0.100354],[0.382931,0.896698,0.222029],[0.007919,-0.243526,0.969862]] 2025-10-27T04:09:30.549Z,1761538170.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:30.552Z,1761538170.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 158.637512 m, bearing: 280.227657 deg, approach rate: 0.144072 m/s, LOS rate: -0.219054 deg/s, cmd heading: 275.105075 deg, new cmd heading: 274.856185 deg. 2025-10-27T04:09:30.553Z,1761538170.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797145 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:30.612Z,1761538170.612 [DAT](INFO): DAT read: Rx Time:04:09:29.1476 2025-10-27T04:09:30.613Z,1761538170.613 [DAT](INFO): Rx dataTimestamp_ set to:1761538170.612324 2025-10-27T04:09:30.613Z,1761538170.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279239 2025-10-27T04:09:30.864Z,1761538170.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529958 2025-10-27T04:09:30.915Z,1761538170.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932742,-0.348361,-0.092937],[0.360498,0.905248,0.224871],[0.005795,-0.243250,0.969946]] 2025-10-27T04:09:31.018Z,1761538171.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.46 m. 2025-10-27T04:09:31.025Z,1761538171.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.456070 m, nav range: 158.709366 m, bearing: 280.141935 deg, approach rate: 0.153100 m/s, LOS rate: -0.182568 deg/s, cmd heading: 274.856183 deg, new cmd heading: 274.599133 deg. 2025-10-27T04:09:31.026Z,1761538171.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792659 target range: 196.456070 and range: 197.30 m. 2025-10-27T04:09:31.124Z,1761538171.124 [DAT](INFO): DAT read: 04:09:29.1476 LVL= 32752, 31921, 27570, 31315, AGC= 64, IDX= 379, 0.22, 0.345, 1.744, 2.625, 1.469, PHS=-1.022, 0.319, 1.112, RAW= 248.4, -4.4, CAL= 245.7, -7.7, ROT= 264.3, 7.7 2025-10-27T04:09:31.125Z,1761538171.125 [DAT](INFO): got valid direction response: 04:09:29.1476 LVL= 32752, 31921, 27570, 31315, AGC= 64, IDX= 379, 0.22, 0.345, 1.744, 2.625, 1.469, PHS=-1.022, 0.319, 1.112, RAW= 248.4, -4.4, CAL= 245.7, -7.7, ROT= 264.3, 7.7 2025-10-27T04:09:31.126Z,1761538171.126 [DAT](INFO): DAT read: Bearing 74.2, -67.6 (Local) 2025-10-27T04:09:31.127Z,1761538171.127 [DAT](INFO): Local bearing/azimuth received: Bearing 74.2, -67.6 (Local) 2025-10-27T04:09:31.129Z,1761538171.129 [DAT](INFO): DAT read: Range 11 to 50 : 159.3 m (Round-trip 212.4 ms) speed -0.4 m/s 2025-10-27T04:09:31.130Z,1761538171.130 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:31.147Z,1761538171.147 [DAT](INFO): direction in FSK: [-0.098424,-0.986083,-0.133986] 2025-10-27T04:09:31.148Z,1761538171.148 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:31.173Z,1761538171.173 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:31.174Z,1761538171.174 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:31.174Z,1761538171.174 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:31.322Z,1761538171.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941141,-0.326968,-0.085710],[0.337994,0.913192,0.227684],[0.003824,-0.243252,0.969956]] 2025-10-27T04:09:31.352Z,1761538171.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.300003 m, deltaT: 16.388023 s, deltaX: -38.000000 m, approachRate: -2.318767 m/s, rangeRepo size: 3 2025-10-27T04:09:31.354Z,1761538171.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.604050 m, bearing: 284.047785 deg, lat: 36.779539 deg, lon: -121.859548 deg, deltaT: 16.388023 s, deltaX: -37.852020 m, approachRate: -2.309737 m/s, posRepo size: 3 2025-10-27T04:09:31.355Z,1761538171.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:31.357Z,1761538171.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 160.949356 m, bearing: 283.754599 deg, approach rate: 0.000000 m/s, LOS rate: -0.182568 deg/s, cmd heading: 274.599122 deg, new cmd heading: 274.416708 deg. 2025-10-27T04:09:31.358Z,1761538171.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789475 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:31.368Z,1761538171.368 [DAT](INFO): DAT read: user:59> 2025-10-27T04:09:31.369Z,1761538171.369 [DAT](INFO): DAT read: Tx time:04:09:30.4811 2025-10-27T04:09:31.369Z,1761538171.369 [DAT](INFO): Ping request sent. 2025-10-27T04:09:31.369Z,1761538171.369 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:31.369Z,1761538171.369 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:31.370Z,1761538171.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T04:09:31.620Z,1761538171.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898 2025-10-27T04:09:31.790Z,1761538171.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:31.792Z,1761538171.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:31.795Z,1761538171.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 161.005402 m, bearing: 283.660266 deg, approach rate: 0.127031 m/s, LOS rate: -0.213738 deg/s, cmd heading: 274.416702 deg, new cmd heading: 274.133803 deg. 2025-10-27T04:09:31.796Z,1761538171.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784537 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:31.872Z,1761538171.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502912 2025-10-27T04:09:32.124Z,1761538172.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755232 2025-10-27T04:09:32.144Z,1761538172.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955607,-0.285599,-0.072446],[0.294644,0.926700,0.233263],[0.000516,-0.244254,0.969711]] 2025-10-27T04:09:32.209Z,1761538172.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:32.212Z,1761538172.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 161.067078 m, bearing: 283.573352 deg, approach rate: 0.148092 m/s, LOS rate: -0.208612 deg/s, cmd heading: 274.133795 deg, new cmd heading: 273.873155 deg. 2025-10-27T04:09:32.213Z,1761538172.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779988 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:32.376Z,1761538172.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007082 2025-10-27T04:09:32.576Z,1761538172.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962190,-0.264227,-0.066143],[0.272379,0.932677,0.236480],[-0.000795,-0.245555,0.969382]] 2025-10-27T04:09:32.594Z,1761538172.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:32.613Z,1761538172.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 161.119186 m, bearing: 283.492576 deg, approach rate: 0.135154 m/s, LOS rate: -0.209440 deg/s, cmd heading: 273.873155 deg, new cmd heading: 273.630906 deg. 2025-10-27T04:09:32.614Z,1761538172.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.775760 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:32.628Z,1761538172.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259003 2025-10-27T04:09:32.881Z,1761538172.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511900 2025-10-27T04:09:32.952Z,1761538172.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968123,-0.243113,-0.060280],[0.250469,0.938010,0.239590],[-0.001704,-0.247051,0.969001]] 2025-10-27T04:09:32.989Z,1761538172.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:33.024Z,1761538173.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 161.175308 m, bearing: 283.408179 deg, approach rate: 0.142167 m/s, LOS rate: -0.213719 deg/s, cmd heading: 273.630902 deg, new cmd heading: 273.377800 deg. 2025-10-27T04:09:33.025Z,1761538173.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.771343 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:33.133Z,1761538173.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763444 2025-10-27T04:09:33.358Z,1761538173.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973572,-0.221924,-0.053927],[0.228370,0.943508,0.240083],[-0.002400,-0.246053,0.969253]] 2025-10-27T04:09:33.377Z,1761538173.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:33.384Z,1761538173.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014969 2025-10-27T04:09:33.399Z,1761538173.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 161.225479 m, bearing: 283.324950 deg, approach rate: 0.129504 m/s, LOS rate: -0.214768 deg/s, cmd heading: 273.377802 deg, new cmd heading: 273.128195 deg. 2025-10-27T04:09:33.400Z,1761538173.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.766986 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:33.636Z,1761538173.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266746 2025-10-27T04:09:33.798Z,1761538173.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978463,-0.200879,-0.047518],[0.206395,0.948325,0.241000],[-0.003350,-0.245617,0.969361]] 2025-10-27T04:09:33.850Z,1761538173.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:33.853Z,1761538173.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:33.856Z,1761538173.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 161.288239 m, bearing: 283.225263 deg, approach rate: 0.131793 m/s, LOS rate: -0.209258 deg/s, cmd heading: 273.128200 deg, new cmd heading: 272.829260 deg. 2025-10-27T04:09:33.856Z,1761538173.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761769 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:33.888Z,1761538173.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519045 2025-10-27T04:09:34.140Z,1761538174.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887 2025-10-27T04:09:34.185Z,1761538174.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982930,-0.179246,-0.041455],[0.183932,0.952404,0.243096],[-0.004092,-0.246571,0.969116]] 2025-10-27T04:09:34.203Z,1761538174.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:34.206Z,1761538174.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 161.330063 m, bearing: 283.151432 deg, approach rate: 0.119469 m/s, LOS rate: -0.210840 deg/s, cmd heading: 272.829256 deg, new cmd heading: 272.607822 deg. 2025-10-27T04:09:34.207Z,1761538174.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.757904 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:34.392Z,1761538174.392 [DAT](INFO): DAT read: Rx Time:04:09:33.0991 2025-10-27T04:09:34.393Z,1761538174.393 [DAT](INFO): Rx dataTimestamp_ set to:1761538174.392622 2025-10-27T04:09:34.393Z,1761538174.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024375 2025-10-27T04:09:34.575Z,1761538174.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986880,-0.157545,-0.035312],[0.161388,0.956383,0.243488],[-0.004589,-0.245992,0.969261]] 2025-10-27T04:09:34.604Z,1761538174.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:34.606Z,1761538174.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 161.372742 m, bearing: 283.066765 deg, approach rate: 0.106503 m/s, LOS rate: -0.211227 deg/s, cmd heading: 272.607822 deg, new cmd heading: 272.353888 deg. 2025-10-27T04:09:34.607Z,1761538174.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.753472 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:34.646Z,1761538174.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276930 2025-10-27T04:09:34.896Z,1761538174.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526926 2025-10-27T04:09:34.978Z,1761538174.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990289,-0.136034,-0.028671],[0.138924,0.960554,0.240907],[-0.005231,-0.242551,0.970125]] 2025-10-27T04:09:35.039Z,1761538175.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.60 m. 2025-10-27T04:09:35.041Z,1761538175.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.604050 m, nav range: 161.407104 m, bearing: 282.977674 deg, approach rate: 0.082777 m/s, LOS rate: -0.214564 deg/s, cmd heading: 272.353875 deg, new cmd heading: 272.086663 deg. 2025-10-27T04:09:35.042Z,1761538175.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.748808 target range: 158.604050 and range: 159.30 m. 2025-10-27T04:09:35.165Z,1761538175.165 [DAT](INFO): DAT read: 04:09:33.0991 LVL= 26944, 23009, 17202, 28243, AGC= 62, IDX= 442, 0.21,-1.969,-0.881, 0.114,-0.940, PHS=-0.928, 0.104, 1.009, RAW= 242.2, -2.2, CAL= 238.8, -3.5, ROT= 271.2, 3.5 2025-10-27T04:09:35.167Z,1761538175.167 [DAT](INFO): got valid direction response: 04:09:33.0991 LVL= 26944, 23009, 17202, 28243, AGC= 62, IDX= 442, 0.21,-1.969,-0.881, 0.114,-0.940, PHS=-0.928, 0.104, 1.009, RAW= 242.2, -2.2, CAL= 238.8, -3.5, ROT= 271.2, 3.5 2025-10-27T04:09:35.169Z,1761538175.169 [DAT](INFO): DAT read: Bearing 77.3, -72.2 (Local) 2025-10-27T04:09:35.169Z,1761538175.169 [DAT](INFO): Local bearing/azimuth received: Bearing 77.3, -72.2 (Local) 2025-10-27T04:09:35.172Z,1761538175.172 [DAT](INFO): DAT read: Range 11 to 50 : 160.3 m (Round-trip 213.8 ms) speed -0.3 m/s 2025-10-27T04:09:35.174Z,1761538175.174 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:35.175Z,1761538175.175 [DAT](INFO): direction in FSK: [0.020904,-0.997916,-0.061049] 2025-10-27T04:09:35.176Z,1761538175.176 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:35.180Z,1761538175.180 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:35.180Z,1761538175.180 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:35.180Z,1761538175.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:35.381Z,1761538175.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993215,-0.114114,-0.022422],[0.116155,0.963920,0.239511],[-0.005719,-0.240490,0.970635]] 2025-10-27T04:09:35.400Z,1761538175.400 [DAT](INFO): DAT read: user:60> 2025-10-27T04:09:35.401Z,1761538175.401 [DAT](INFO): DAT read: Tx time:04:09:34.4811 2025-10-27T04:09:35.401Z,1761538175.401 [DAT](INFO): Ping request sent. 2025-10-27T04:09:35.401Z,1761538175.401 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:35.401Z,1761538175.401 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:35.402Z,1761538175.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-27T04:09:35.408Z,1761538175.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.300003 m, deltaT: 4.032799 s, deltaX: 1.000000 m, approachRate: 0.247967 m/s, rangeRepo size: 4 2025-10-27T04:09:35.410Z,1761538175.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.600815 m, bearing: 277.948368 deg, lat: 36.779539 deg, lon: -121.859548 deg, deltaT: 4.032799 s, deltaX: 0.996765 m, approachRate: 0.247165 m/s, posRepo size: 4 2025-10-27T04:09:35.411Z,1761538175.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:35.414Z,1761538175.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.434296 m, bearing: 282.894038 deg, approach rate: 0.000000 m/s, LOS rate: -0.214564 deg/s, cmd heading: 272.086651 deg, new cmd heading: 271.836305 deg. 2025-10-27T04:09:35.415Z,1761538175.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744439 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:35.653Z,1761538175.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252009 2025-10-27T04:09:35.801Z,1761538175.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995623,-0.091971,-0.016592],[0.093264,0.966444,0.239350],[-0.005978,-0.239850,0.970792]] 2025-10-27T04:09:35.857Z,1761538175.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:35.859Z,1761538175.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:35.861Z,1761538175.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.460678 m, bearing: 282.794320 deg, approach rate: 0.058493 m/s, LOS rate: -0.221049 deg/s, cmd heading: 271.836311 deg, new cmd heading: 271.537208 deg. 2025-10-27T04:09:35.862Z,1761538175.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.739218 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:35.904Z,1761538175.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502904 2025-10-27T04:09:36.157Z,1761538176.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755668 2025-10-27T04:09:36.199Z,1761538176.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997532,-0.069400,-0.010654],[0.069926,0.968272,0.239917],[-0.006334,-0.240070,0.970735]] 2025-10-27T04:09:36.237Z,1761538176.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:36.255Z,1761538176.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.474045 m, bearing: 282.712400 deg, approach rate: 0.035376 m/s, LOS rate: -0.216789 deg/s, cmd heading: 271.537203 deg, new cmd heading: 271.291465 deg. 2025-10-27T04:09:36.256Z,1761538176.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.734929 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:36.408Z,1761538176.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006864 2025-10-27T04:09:36.596Z,1761538176.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998905,-0.046516,-0.005047],[0.046356,0.969244,0.241696],[-0.006351,-0.241665,0.970339]] 2025-10-27T04:09:36.614Z,1761538176.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:36.617Z,1761538176.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.482224 m, bearing: 282.630464 deg, approach rate: 0.021678 m/s, LOS rate: -0.217164 deg/s, cmd heading: 271.291453 deg, new cmd heading: 271.045659 deg. 2025-10-27T04:09:36.618Z,1761538176.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730639 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:36.661Z,1761538176.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259385 2025-10-27T04:09:36.912Z,1761538176.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511328 2025-10-27T04:09:36.998Z,1761538176.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999716,-0.023822,0.000246],[0.023058,0.970168,0.241334],[-0.005988,-0.241260,0.970442]] 2025-10-27T04:09:37.058Z,1761538177.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:37.065Z,1761538177.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.476517 m, bearing: 282.538212 deg, approach rate: -0.012851 m/s, LOS rate: -0.207743 deg/s, cmd heading: 271.045648 deg, new cmd heading: 270.768885 deg. 2025-10-27T04:09:37.066Z,1761538177.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725809 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:37.166Z,1761538177.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764490 2025-10-27T04:09:37.405Z,1761538177.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999983,-0.001435,0.005721],[0.000033,0.971312,0.237809],[-0.005898,-0.237805,0.971295]] 2025-10-27T04:09:37.416Z,1761538177.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853 2025-10-27T04:09:37.425Z,1761538177.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:37.428Z,1761538177.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.466873 m, bearing: 282.458720 deg, approach rate: -0.026234 m/s, LOS rate: -0.216259 deg/s, cmd heading: 270.768889 deg, new cmd heading: 270.530399 deg. 2025-10-27T04:09:37.429Z,1761538177.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721646 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:37.516Z,1761538177.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:09:37.669Z,1761538177.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267564 2025-10-27T04:09:37.820Z,1761538177.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999731,0.020601,0.010662],[-0.022548,0.970996,0.238029],[-0.005449,-0.238206,0.971199]] 2025-10-27T04:09:37.883Z,1761538177.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:37.885Z,1761538177.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:37.896Z,1761538177.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.449295 m, bearing: 282.361614 deg, approach rate: -0.038218 m/s, LOS rate: -0.211149 deg/s, cmd heading: 270.530406 deg, new cmd heading: 270.239061 deg. 2025-10-27T04:09:37.897Z,1761538177.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716561 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:37.920Z,1761538177.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518953 2025-10-27T04:09:38.173Z,1761538178.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771083 2025-10-27T04:09:38.206Z,1761538178.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998920,0.043779,0.015548],[-0.046231,0.969750,0.239684],[-0.004585,-0.240144,0.970726]] 2025-10-27T04:09:38.257Z,1761538178.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:38.276Z,1761538178.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.425568 m, bearing: 282.281848 deg, approach rate: -0.063869 m/s, LOS rate: -0.214746 deg/s, cmd heading: 270.239057 deg, new cmd heading: 269.999723 deg. 2025-10-27T04:09:38.277Z,1761538178.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712384 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:38.424Z,1761538178.424 [DAT](INFO): DAT read: Rx Time:04:09:37.1001 2025-10-27T04:09:38.425Z,1761538178.425 [DAT](INFO): Rx dataTimestamp_ set to:1761538178.424352 2025-10-27T04:09:38.425Z,1761538178.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024066 2025-10-27T04:09:38.519Z,1761538178.519 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:09:38.610Z,1761538178.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997579,0.066594,0.020060],[-0.069463,0.968349,0.239741],[-0.003460,-0.240554,0.970630]] 2025-10-27T04:09:38.629Z,1761538178.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:38.632Z,1761538178.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.396896 m, bearing: 282.202250 deg, approach rate: -0.077081 m/s, LOS rate: -0.214031 deg/s, cmd heading: 269.999727 deg, new cmd heading: 269.760894 deg. 2025-10-27T04:09:38.633Z,1761538178.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708216 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:38.676Z,1761538178.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274971 2025-10-27T04:09:38.932Z,1761538178.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529455 2025-10-27T04:09:39.014Z,1761538179.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995677,0.089441,0.025033],[-0.092841,0.966063,0.241047],[-0.002623,-0.242329,0.970191]] 2025-10-27T04:09:39.075Z,1761538179.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.60 m. 2025-10-27T04:09:39.078Z,1761538179.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.600815 m, nav range: 161.349686 m, bearing: 282.112707 deg, approach rate: -0.106838 m/s, LOS rate: -0.202697 deg/s, cmd heading: 269.760889 deg, new cmd heading: 269.492183 deg. 2025-10-27T04:09:39.078Z,1761538179.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703526 target range: 159.600815 and range: 160.30 m. 2025-10-27T04:09:39.186Z,1761538179.186 [DAT](INFO): DAT read: 04:09:37.1001 LVL= 27072, 25697, 18194, 26435, AGC= 63, IDX= 437, 0.15,-2.149,-1.313,-0.019,-1.164, PHS=-0.883,-0.104, 1.101, RAW= 232.9, -1.3, CAL= 229.6, -1.3, ROT= 280.4, 1.3 2025-10-27T04:09:39.189Z,1761538179.189 [DAT](INFO): got valid direction response: 04:09:37.1001 LVL= 27072, 25697, 18194, 26435, AGC= 63, IDX= 437, 0.15,-2.149,-1.313,-0.019,-1.164, PHS=-0.883,-0.104, 1.101, RAW= 232.9, -1.3, CAL= 229.6, -1.3, ROT= 280.4, 1.3 2025-10-27T04:09:39.190Z,1761538179.190 [DAT](INFO): DAT read: Bearing 94.1, -71.6 (Local) 2025-10-27T04:09:39.191Z,1761538179.191 [DAT](INFO): Local bearing/azimuth received: Bearing 94.1, -71.6 (Local) 2025-10-27T04:09:39.193Z,1761538179.193 [DAT](INFO): DAT read: Range 11 to 50 : 161.1 m (Round-trip 214.9 ms) speed 0.0 m/s 2025-10-27T04:09:39.194Z,1761538179.194 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:39.203Z,1761538179.203 [DAT](INFO): direction in FSK: [0.180473,-0.983318,-0.022687] 2025-10-27T04:09:39.203Z,1761538179.203 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:39.211Z,1761538179.211 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:39.211Z,1761538179.211 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:39.211Z,1761538179.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:39.419Z,1761538179.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993227,0.112312,0.029760],[-0.116176,0.963647,0.240598],[-0.001656,-0.242426,0.970169]] 2025-10-27T04:09:39.432Z,1761538179.432 [DAT](INFO): DAT read: user:61> 2025-10-27T04:09:39.433Z,1761538179.433 [DAT](INFO): DAT read: Tx time:04:09:38.5311 2025-10-27T04:09:39.433Z,1761538179.433 [DAT](INFO): Ping request sent. 2025-10-27T04:09:39.433Z,1761538179.433 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:39.433Z,1761538179.433 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:39.434Z,1761538179.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-27T04:09:39.446Z,1761538179.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.100006 m, deltaT: 4.031199 s, deltaX: 0.800003 m, approachRate: 0.198453 m/s, rangeRepo size: 4 2025-10-27T04:09:39.449Z,1761538179.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.396057 m, bearing: 274.001661 deg, lat: 36.779539 deg, lon: -121.859531 deg, deltaT: 4.031199 s, deltaX: 0.795242 m, approachRate: 0.197272 m/s, posRepo size: 4 2025-10-27T04:09:39.449Z,1761538179.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:39.452Z,1761538179.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.801773 m, bearing: 282.145781 deg, approach rate: 0.000000 m/s, LOS rate: -0.202697 deg/s, cmd heading: 269.492190 deg, new cmd heading: 269.264163 deg. 2025-10-27T04:09:39.453Z,1761538179.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699546 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:39.684Z,1761538179.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251228 2025-10-27T04:09:39.826Z,1761538179.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990208,0.135385,0.034055],[-0.139602,0.960961,0.238883],[-0.000385,-0.241298,0.970451]] 2025-10-27T04:09:39.900Z,1761538179.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:39.908Z,1761538179.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:39.911Z,1761538179.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.744965 m, bearing: 282.059208 deg, approach rate: -0.122878 m/s, LOS rate: -0.187325 deg/s, cmd heading: 269.264171 deg, new cmd heading: 269.004362 deg. 2025-10-27T04:09:39.916Z,1761538179.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695012 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:39.936Z,1761538179.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502935 2025-10-27T04:09:40.188Z,1761538180.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754810 2025-10-27T04:09:40.226Z,1761538180.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986529,0.159013,0.038408],[-0.163583,0.957351,0.238159],[0.001100,-0.241234,0.970466]] 2025-10-27T04:09:40.269Z,1761538180.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:40.272Z,1761538180.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.669205 m, bearing: 281.970594 deg, approach rate: -0.209712 m/s, LOS rate: -0.245411 deg/s, cmd heading: 269.004350 deg, new cmd heading: 268.738383 deg. 2025-10-27T04:09:40.273Z,1761538180.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690370 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:40.440Z,1761538180.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791 2025-10-27T04:09:40.637Z,1761538180.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982322,0.182200,0.042968],[-0.187182,0.953049,0.238033],[0.002419,-0.241868,0.970306]] 2025-10-27T04:09:40.681Z,1761538180.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:40.685Z,1761538180.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.589874 m, bearing: 281.884688 deg, approach rate: -0.192518 m/s, LOS rate: -0.208579 deg/s, cmd heading: 268.738383 deg, new cmd heading: 268.480538 deg. 2025-10-27T04:09:40.686Z,1761538180.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685869 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:40.693Z,1761538180.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259336 2025-10-27T04:09:40.944Z,1761538180.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510885 2025-10-27T04:09:41.034Z,1761538181.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977421,0.205736,0.048182],[-0.211276,0.947940,0.238268],[0.003347,-0.243067,0.970004]] 2025-10-27T04:09:41.086Z,1761538181.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:41.109Z,1761538181.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.513199 m, bearing: 281.802669 deg, approach rate: -0.189633 m/s, LOS rate: -0.202946 deg/s, cmd heading: 268.480529 deg, new cmd heading: 268.234356 deg. 2025-10-27T04:09:41.109Z,1761538181.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681573 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:41.197Z,1761538181.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764178 2025-10-27T04:09:41.441Z,1761538181.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972128,0.228263,0.053507],[-0.234414,0.942275,0.239098],[0.004159,-0.244977,0.969520]] 2025-10-27T04:09:41.448Z,1761538181.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014918 2025-10-27T04:09:41.460Z,1761538181.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:41.463Z,1761538181.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.437439 m, bearing: 281.727243 deg, approach rate: -0.202230 m/s, LOS rate: -0.201434 deg/s, cmd heading: 268.234369 deg, new cmd heading: 268.007986 deg. 2025-10-27T04:09:41.464Z,1761538181.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677622 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:41.701Z,1761538181.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267515 2025-10-27T04:09:41.842Z,1761538181.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966219,0.250953,0.058677],[-0.257670,0.936106,0.239397],[0.005150,-0.246429,0.969147]] 2025-10-27T04:09:41.866Z,1761538181.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:41.895Z,1761538181.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.350494 m, bearing: 281.646432 deg, approach rate: -0.214957 m/s, LOS rate: -0.199903 deg/s, cmd heading: 268.007990 deg, new cmd heading: 267.765425 deg. 2025-10-27T04:09:41.903Z,1761538181.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673388 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:41.952Z,1761538181.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518890 2025-10-27T04:09:42.204Z,1761538182.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770827 2025-10-27T04:09:42.246Z,1761538182.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959560,0.274059,0.064317],[-0.281447,0.929330,0.239026],[0.005735,-0.247461,0.968881]] 2025-10-27T04:09:42.295Z,1761538182.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:42.297Z,1761538182.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:42.308Z,1761538182.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.243378 m, bearing: 281.563988 deg, approach rate: -0.247864 m/s, LOS rate: -0.190900 deg/s, cmd heading: 267.765436 deg, new cmd heading: 267.517940 deg. 2025-10-27T04:09:42.309Z,1761538182.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669069 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:42.456Z,1761538182.456 [DAT](INFO): DAT read: Rx Time:04:09:41.1497 2025-10-27T04:09:42.457Z,1761538182.457 [DAT](INFO): Rx dataTimestamp_ set to:1761538182.456288 2025-10-27T04:09:42.457Z,1761538182.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024057 2025-10-27T04:09:42.672Z,1761538182.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952412,0.296662,0.070016],[-0.304753,0.922200,0.238060],[0.006054,-0.248069,0.968723]] 2025-10-27T04:09:42.709Z,1761538182.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275576 2025-10-27T04:09:42.713Z,1761538182.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:42.721Z,1761538182.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.140945 m, bearing: 281.489616 deg, approach rate: -0.246635 m/s, LOS rate: -0.179187 deg/s, cmd heading: 267.517937 deg, new cmd heading: 267.294679 deg. 2025-10-27T04:09:42.722Z,1761538182.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665172 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:42.963Z,1761538182.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529084 2025-10-27T04:09:43.130Z,1761538183.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.40 m. 2025-10-27T04:09:43.132Z,1761538183.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.396057 m, nav range: 159.028610 m, bearing: 281.406252 deg, approach rate: -0.269209 m/s, LOS rate: -0.199920 deg/s, cmd heading: 267.294672 deg, new cmd heading: 267.044406 deg. 2025-10-27T04:09:43.133Z,1761538183.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660804 target range: 160.396057 and range: 161.10 m. 2025-10-27T04:09:43.220Z,1761538183.220 [DAT](INFO): DAT read: 04:09:41.1497 LVL= 23184, 25073, 17250, 24003, AGC= 63, IDX= 417,-0.45,-0.465,-0.140, 1.624, 0.228, PHS=-0.591,-0.323, 1.352, RAW= 217.3, -4.9, CAL= 215.9, -7.3, ROT= 294.1, 7.3 2025-10-27T04:09:43.221Z,1761538183.221 [DAT](INFO): got valid direction response: 04:09:41.1497 LVL= 23184, 25073, 17250, 24003, AGC= 63, IDX= 417,-0.45,-0.465,-0.140, 1.624, 0.228, PHS=-0.591,-0.323, 1.352, RAW= 217.3, -4.9, CAL= 215.9, -7.3, ROT= 294.1, 7.3 2025-10-27T04:09:43.222Z,1761538183.222 [DAT](INFO): DAT read: Bearing 94.6, -57.3 (Local) 2025-10-27T04:09:43.222Z,1761538183.222 [DAT](INFO): Local bearing/azimuth received: Bearing 94.6, -57.3 (Local) 2025-10-27T04:09:43.224Z,1761538183.224 [DAT](INFO): DAT read: Range 11 to 50 : 160.8 m (Round-trip 214.4 ms) speed 0.0 m/s 2025-10-27T04:09:43.224Z,1761538183.224 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:43.225Z,1761538183.225 [DAT](INFO): direction in FSK: [0.405021,-0.905435,-0.127065] 2025-10-27T04:09:43.226Z,1761538183.226 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:43.229Z,1761538183.229 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:43.229Z,1761538183.229 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:43.229Z,1761538183.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:43.464Z,1761538183.464 [DAT](INFO): DAT read: user:62> 2025-10-27T04:09:43.464Z,1761538183.464 [DAT](INFO): DAT read: Tx time:04:09:42.5311 2025-10-27T04:09:43.465Z,1761538183.465 [DAT](INFO): Ping request sent. 2025-10-27T04:09:43.465Z,1761538183.465 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:43.465Z,1761538183.465 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:43.466Z,1761538183.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-27T04:09:43.468Z,1761538183.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936792,0.340735,0.079497],[-0.349824,0.907843,0.231179],[0.006600,-0.244377,0.969658]] 2025-10-27T04:09:43.492Z,1761538183.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.800003 m, deltaT: 4.032814 s, deltaX: -0.300003 m, approachRate: -0.074391 m/s, rangeRepo size: 4 2025-10-27T04:09:43.494Z,1761538183.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.095612 m, bearing: 273.503880 deg, lat: 36.779411 deg, lon: -121.859531 deg, deltaT: 4.032814 s, deltaX: -0.300446 m, approachRate: -0.074500 m/s, posRepo size: 4 2025-10-27T04:09:43.495Z,1761538183.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-10-27T04:09:43.497Z,1761538183.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.095612 m, nav range: 156.743683 m, bearing: 276.202295 deg, approach rate: 0.000000 m/s, LOS rate: -0.199920 deg/s, cmd heading: 267.044414 deg, new cmd heading: 266.827984 deg. 2025-10-27T04:09:43.498Z,1761538183.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657027 target range: 160.095612 and range: 160.80 m. 2025-10-27T04:09:43.719Z,1761538183.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254094 2025-10-27T04:09:43.865Z,1761538183.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928221,0.362304,0.084503],[-0.371969,0.899771,0.228149],[0.006626,-0.243205,0.969952]] 2025-10-27T04:09:43.937Z,1761538183.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-10-27T04:09:43.955Z,1761538183.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.095612 m, nav range: 156.643433 m, bearing: 276.122528 deg, approach rate: -0.225042 m/s, LOS rate: -0.179175 deg/s, cmd heading: 266.827979 deg, new cmd heading: 266.588527 deg. 2025-10-27T04:09:43.963Z,1761538183.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652848 target range: 160.095612 and range: 160.80 m. 2025-10-27T04:09:43.968Z,1761538183.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503178 2025-10-27T04:09:44.220Z,1761538184.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754941 2025-10-27T04:09:44.347Z,1761538184.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:44.349Z,1761538184.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-10-27T04:09:44.352Z,1761538184.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.095612 m, nav range: 156.527863 m, bearing: 276.033024 deg, approach rate: -0.279541 m/s, LOS rate: -0.216653 deg/s, cmd heading: 266.588540 deg, new cmd heading: 266.319831 deg. 2025-10-27T04:09:44.353Z,1761538184.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648158 target range: 160.095612 and range: 160.80 m. 2025-10-27T04:09:44.472Z,1761538184.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007590 2025-10-27T04:09:44.704Z,1761538184.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909076,0.405574,0.095348],[-0.416581,0.881297,0.223103],[0.006454,-0.242538,0.970120]] 2025-10-27T04:09:44.725Z,1761538184.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259814 2025-10-27T04:09:44.732Z,1761538184.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-10-27T04:09:44.735Z,1761538184.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.095612 m, nav range: 156.421356 m, bearing: 275.959642 deg, approach rate: -0.278250 m/s, LOS rate: -0.191843 deg/s, cmd heading: 266.319840 deg, new cmd heading: 266.099545 deg. 2025-10-27T04:09:44.736Z,1761538184.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644313 target range: 160.095612 and range: 160.80 m. 2025-10-27T04:09:44.976Z,1761538184.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510976 2025-10-27T04:09:45.105Z,1761538185.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898542,0.427031,0.101322],[-0.438837,0.870688,0.222091],[0.006620,-0.244022,0.969747]] 2025-10-27T04:09:45.180Z,1761538185.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-10-27T04:09:45.187Z,1761538185.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.095612 m, nav range: 156.296722 m, bearing: 275.879657 deg, approach rate: -0.278200 m/s, LOS rate: -0.178681 deg/s, cmd heading: 266.099553 deg, new cmd heading: 265.859407 deg. 2025-10-27T04:09:45.188Z,1761538185.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640122 target range: 160.095612 and range: 160.80 m. 2025-10-27T04:09:45.229Z,1761538185.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763639 2025-10-27T04:09:45.480Z,1761538185.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015089 2025-10-27T04:09:45.505Z,1761538185.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887361,0.448563,0.106682],[-0.461024,0.859749,0.219747],[0.006850,-0.244178,0.969706]] 2025-10-27T04:09:45.534Z,1761538185.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-10-27T04:09:45.537Z,1761538185.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.095612 m, nav range: 156.189804 m, bearing: 275.814609 deg, approach rate: -0.301778 m/s, LOS rate: -0.183723 deg/s, cmd heading: 265.859403 deg, new cmd heading: 265.664127 deg. 2025-10-27T04:09:45.538Z,1761538185.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636714 target range: 160.095612 and range: 160.80 m. 2025-10-27T04:09:45.732Z,1761538185.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267449 2025-10-27T04:09:45.913Z,1761538185.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875718,0.469560,0.112394],[-0.482775,0.848281,0.217595],[0.006833,-0.244813,0.969546]] 2025-10-27T04:09:45.989Z,1761538185.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521307 2025-10-27T04:09:45.995Z,1761538185.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-10-27T04:09:45.998Z,1761538185.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.095612 m, nav range: 156.068466 m, bearing: 275.744522 deg, approach rate: -0.273322 m/s, LOS rate: -0.157999 deg/s, cmd heading: 265.664115 deg, new cmd heading: 265.453691 deg. 2025-10-27T04:09:46.003Z,1761538186.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633041 target range: 160.095612 and range: 160.80 m. 2025-10-27T04:09:46.236Z,1761538186.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771062 2025-10-27T04:09:46.314Z,1761538186.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863271,0.490968,0.117105],[-0.504689,0.836312,0.214176],[0.007217,-0.243994,0.969750]] 2025-10-27T04:09:46.357Z,1761538186.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:46.359Z,1761538186.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-10-27T04:09:46.361Z,1761538186.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.095612 m, nav range: 155.935181 m, bearing: 275.668167 deg, approach rate: -0.350524 m/s, LOS rate: -0.200975 deg/s, cmd heading: 265.453690 deg, new cmd heading: 265.224432 deg. 2025-10-27T04:09:46.362Z,1761538186.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629040 target range: 160.095612 and range: 160.80 m. 2025-10-27T04:09:46.488Z,1761538186.488 [DAT](INFO): DAT read: Rx Time:04:09:45.1484 2025-10-27T04:09:46.489Z,1761538186.489 [DAT](INFO): Rx dataTimestamp_ set to:1761538186.488621 2025-10-27T04:09:46.489Z,1761538186.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024575 2025-10-27T04:09:46.725Z,1761538186.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850431,0.512005,0.120905],[-0.526032,0.824273,0.209436],[0.007573,-0.241711,0.970319]] 2025-10-27T04:09:46.740Z,1761538186.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275084 2025-10-27T04:09:46.745Z,1761538186.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.10 m. 2025-10-27T04:09:46.764Z,1761538186.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.095612 m, nav range: 155.810211 m, bearing: 275.600105 deg, approach rate: -0.323593 m/s, LOS rate: -0.176380 deg/s, cmd heading: 265.224442 deg, new cmd heading: 265.020092 deg. 2025-10-27T04:09:46.765Z,1761538186.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625473 target range: 160.095612 and range: 160.80 m. 2025-10-27T04:09:47.016Z,1761538187.016 [DAT](INFO): DAT read: 04:09:45.1484 LVL= 25360, 26753, 17682, 27059, AGC= 58, IDX= 435,-0.13, 2.020, 1.690,-2.568, 2.514, PHS=-0.392,-0.779, 1.158, RAW= 199.1, 0.2, CAL= 199.2, -2.3, ROT= 310.8, 2.3 2025-10-27T04:09:47.017Z,1761538187.017 [DAT](INFO): got valid direction response: 04:09:45.1484 LVL= 25360, 26753, 17682, 27059, AGC= 58, IDX= 435,-0.13, 2.020, 1.690,-2.568, 2.514, PHS=-0.392,-0.779, 1.158, RAW= 199.1, 0.2, CAL= 199.2, -2.3, ROT= 310.8, 2.3 2025-10-27T04:09:47.018Z,1761538187.018 [DAT](INFO): DAT read: Bearing 102.9, -46.1 (Local) 2025-10-27T04:09:47.018Z,1761538187.018 [DAT](INFO): Local bearing/azimuth received: Bearing 102.9, -46.1 (Local) 2025-10-27T04:09:47.020Z,1761538187.020 [DAT](INFO): DAT read: Range 11 to 50 : 159.8 m (Round-trip 213.1 ms) speed 0.0 m/s 2025-10-27T04:09:47.020Z,1761538187.020 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:47.021Z,1761538187.021 [DAT](INFO): direction in FSK: [0.652894,-0.756385,-0.040132] 2025-10-27T04:09:47.022Z,1761538187.022 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:47.031Z,1761538187.031 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:47.032Z,1761538187.032 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:47.032Z,1761538187.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:47.141Z,1761538187.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837201,0.532050,0.126563],[-0.546843,0.811161,0.207318],[0.007641,-0.242777,0.970052]] 2025-10-27T04:09:47.242Z,1761538187.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.800003 m, deltaT: 3.780867 s, deltaX: -1.000000 m, approachRate: -0.264490 m/s, rangeRepo size: 4 2025-10-27T04:09:47.244Z,1761538187.244 [DAT](INFO): DAT read: user:63> 2025-10-27T04:09:47.245Z,1761538187.245 [DAT](INFO): DAT read: Tx time:04:09:46.3311 2025-10-27T04:09:47.245Z,1761538187.245 [DAT](INFO): Ping request sent. 2025-10-27T04:09:47.245Z,1761538187.245 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:47.245Z,1761538187.245 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:47.246Z,1761538187.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-27T04:09:47.256Z,1761538187.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.098907 m, bearing: 278.086881 deg, lat: 36.779411 deg, lon: -121.859531 deg, deltaT: 3.780867 s, deltaX: -0.996704 m, approachRate: -0.263618 m/s, posRepo size: 4 2025-10-27T04:09:47.256Z,1761538187.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:47.267Z,1761538187.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 155.651413 m, bearing: 275.516395 deg, approach rate: 0.000000 m/s, LOS rate: -0.176380 deg/s, cmd heading: 265.020082 deg, new cmd heading: 264.757361 deg. 2025-10-27T04:09:47.268Z,1761538187.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620888 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:47.496Z,1761538187.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250933 2025-10-27T04:09:47.602Z,1761538187.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823537,0.552071,0.130403],[-0.567211,0.798287,0.202508],[0.007700,-0.240739,0.970559]] 2025-10-27T04:09:47.645Z,1761538187.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:47.659Z,1761538187.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 155.516541 m, bearing: 275.448629 deg, approach rate: -0.334207 m/s, LOS rate: -0.168064 deg/s, cmd heading: 264.757366 deg, new cmd heading: 264.553895 deg. 2025-10-27T04:09:47.661Z,1761538187.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617337 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:47.748Z,1761538187.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502954 2025-10-27T04:09:48.002Z,1761538188.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756586 2025-10-27T04:09:48.035Z,1761538188.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808952,0.572375,0.134102],[-0.587819,0.784415,0.197896],[0.008080,-0.238916,0.971007]] 2025-10-27T04:09:48.092Z,1761538188.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:48.094Z,1761538188.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 155.359940 m, bearing: 275.369791 deg, approach rate: -0.350396 m/s, LOS rate: -0.176579 deg/s, cmd heading: 264.553908 deg, new cmd heading: 264.317157 deg. 2025-10-27T04:09:48.100Z,1761538188.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613204 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:48.252Z,1761538188.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006726 2025-10-27T04:09:48.459Z,1761538188.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794303,0.591693,0.137778],[-0.607467,0.770486,0.193222],[0.008172,-0.237172,0.971433]] 2025-10-27T04:09:48.485Z,1761538188.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:48.487Z,1761538188.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:48.490Z,1761538188.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 155.220001 m, bearing: 275.302595 deg, approach rate: -0.354099 m/s, LOS rate: -0.170188 deg/s, cmd heading: 264.317147 deg, new cmd heading: 264.115375 deg. 2025-10-27T04:09:48.491Z,1761538188.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609683 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:48.504Z,1761538188.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258908 2025-10-27T04:09:48.756Z,1761538188.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510836 2025-10-27T04:09:48.862Z,1761538188.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779183,0.610265,0.143008],[-0.626742,0.755557,0.190600],[0.008266,-0.238141,0.971195]] 2025-10-27T04:09:48.880Z,1761538188.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:48.883Z,1761538188.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 155.077240 m, bearing: 275.237202 deg, approach rate: -0.362896 m/s, LOS rate: -0.166380 deg/s, cmd heading: 264.115383 deg, new cmd heading: 263.919025 deg. 2025-10-27T04:09:48.884Z,1761538188.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606256 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:49.011Z,1761538189.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765200 2025-10-27T04:09:49.260Z,1761538189.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014735 2025-10-27T04:09:49.272Z,1761538189.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763884,0.628260,0.147548],[-0.645300,0.740631,0.187225],[0.008347,-0.238231,0.971173]] 2025-10-27T04:09:49.313Z,1761538189.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:49.332Z,1761538189.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 154.938446 m, bearing: 275.169784 deg, approach rate: -0.320620 m/s, LOS rate: -0.155878 deg/s, cmd heading: 263.919029 deg, new cmd heading: 263.716594 deg. 2025-10-27T04:09:49.333Z,1761538189.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602723 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:49.512Z,1761538189.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266688 2025-10-27T04:09:49.674Z,1761538189.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748318,0.645899,0.151112],[-0.663289,0.725762,0.182528],[0.008223,-0.236820,0.971519]] 2025-10-27T04:09:49.726Z,1761538189.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:49.729Z,1761538189.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 154.804657 m, bearing: 275.107695 deg, approach rate: -0.323803 m/s, LOS rate: -0.150400 deg/s, cmd heading: 263.716582 deg, new cmd heading: 263.530156 deg. 2025-10-27T04:09:49.730Z,1761538189.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599469 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:49.764Z,1761538189.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519029 2025-10-27T04:09:50.019Z,1761538190.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773520 2025-10-27T04:09:50.076Z,1761538190.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732307,0.662905,0.155831],[-0.680923,0.710004,0.179549],[0.008383,-0.237594,0.971328]] 2025-10-27T04:09:50.129Z,1761538190.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:50.137Z,1761538190.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 154.670410 m, bearing: 275.046040 deg, approach rate: -0.333482 m/s, LOS rate: -0.153290 deg/s, cmd heading: 263.530145 deg, new cmd heading: 263.345020 deg. 2025-10-27T04:09:50.140Z,1761538190.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596238 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:50.268Z,1761538190.268 [DAT](INFO): DAT read: Rx Time:04:09:48.9474 2025-10-27T04:09:50.268Z,1761538190.268 [DAT](INFO): Rx dataTimestamp_ set to:1761538190.268061 2025-10-27T04:09:50.269Z,1761538190.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023783 2025-10-27T04:09:50.478Z,1761538190.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715756,0.679107,0.162809],[-0.698300,0.693193,0.178495],[0.008359,-0.241448,0.970378]] 2025-10-27T04:09:50.506Z,1761538190.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:50.509Z,1761538190.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:50.511Z,1761538190.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 154.539291 m, bearing: 274.988564 deg, approach rate: -0.345428 m/s, LOS rate: -0.151547 deg/s, cmd heading: 263.345020 deg, new cmd heading: 263.172446 deg. 2025-10-27T04:09:50.512Z,1761538190.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593225 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:50.524Z,1761538190.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278029 2025-10-27T04:09:50.776Z,1761538190.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530235 2025-10-27T04:09:50.882Z,1761538190.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698779,0.695375,0.167813],[-0.715289,0.676514,0.175184],[0.008291,-0.242450,0.970128]] 2025-10-27T04:09:50.901Z,1761538190.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.10 m. 2025-10-27T04:09:50.904Z,1761538190.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.098907 m, nav range: 154.401718 m, bearing: 274.930961 deg, approach rate: -0.350522 m/s, LOS rate: -0.146898 deg/s, cmd heading: 263.172434 deg, new cmd heading: 262.999471 deg. 2025-10-27T04:09:50.905Z,1761538190.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590207 target range: 159.098907 and range: 159.80 m. 2025-10-27T04:09:51.053Z,1761538191.053 [DAT](INFO): DAT read: 04:09:48.9474 LVL= 32752, 32753, 20194, 32755, AGC= 63, IDX= 426,-0.50,-0.424,-1.401, 0.811,-0.142, PHS=-0.179,-1.214, 0.909, RAW= 180.8, 5.3, CAL= 180.6, 4.0, ROT= 329.4, -4.0 2025-10-27T04:09:51.054Z,1761538191.054 [DAT](INFO): got valid direction response: 04:09:48.9474 LVL= 32752, 32753, 20194, 32755, AGC= 63, IDX= 426,-0.50,-0.424,-1.401, 0.811,-0.142, PHS=-0.179,-1.214, 0.909, RAW= 180.8, 5.3, CAL= 180.6, 4.0, ROT= 329.4, -4.0 2025-10-27T04:09:51.059Z,1761538191.059 [DAT](INFO): DAT read: Bearing 104.3, -30.4 (Local) 2025-10-27T04:09:51.060Z,1761538191.060 [DAT](INFO): Local bearing/azimuth received: Bearing 104.3, -30.4 (Local) 2025-10-27T04:09:51.061Z,1761538191.061 [DAT](INFO): DAT read: Range 11 to 50 : 159.1 m (Round-trip 212.2 ms) speed 0.0 m/s 2025-10-27T04:09:51.062Z,1761538191.062 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:51.063Z,1761538191.063 [DAT](INFO): direction in FSK: [0.858645,-0.507801,0.069756] 2025-10-27T04:09:51.067Z,1761538191.067 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:51.070Z,1761538191.070 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:51.070Z,1761538191.070 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:51.075Z,1761538191.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:51.276Z,1761538191.276 [DAT](INFO): DAT read: user:64> 2025-10-27T04:09:51.277Z,1761538191.277 [DAT](INFO): DAT read: Tx time:04:09:50.3811 2025-10-27T04:09:51.277Z,1761538191.277 [DAT](INFO): Ping request sent. 2025-10-27T04:09:51.277Z,1761538191.277 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:51.277Z,1761538191.277 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:51.278Z,1761538191.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-27T04:09:51.289Z,1761538191.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681431,0.711215,0.172699],[-0.731834,0.659451,0.171880],[0.008357,-0.243511,0.969862]] 2025-10-27T04:09:51.375Z,1761538191.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.100006 m, deltaT: 4.032132 s, deltaX: -0.699997 m, approachRate: -0.173605 m/s, rangeRepo size: 4 2025-10-27T04:09:51.377Z,1761538191.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.402054 m, bearing: 283.933154 deg, lat: 36.779411 deg, lon: -121.859531 deg, deltaT: 4.032132 s, deltaX: -0.696854 m, approachRate: -0.172825 m/s, posRepo size: 4 2025-10-27T04:09:51.378Z,1761538191.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:51.381Z,1761538191.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 154.246552 m, bearing: 274.863441 deg, approach rate: 0.000000 m/s, LOS rate: -0.146898 deg/s, cmd heading: 262.999467 deg, new cmd heading: 262.790861 deg. 2025-10-27T04:09:51.382Z,1761538191.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586566 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:51.528Z,1761538191.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250956 2025-10-27T04:09:51.694Z,1761538191.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664328,0.726293,0.176540],[-0.747396,0.642911,0.167526],[0.008174,-0.243238,0.969932]] 2025-10-27T04:09:51.741Z,1761538191.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:51.748Z,1761538191.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 154.128433 m, bearing: 274.814235 deg, approach rate: -0.322182 m/s, LOS rate: -0.134318 deg/s, cmd heading: 262.790873 deg, new cmd heading: 262.643142 deg. 2025-10-27T04:09:51.749Z,1761538191.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583988 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:51.780Z,1761538191.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503041 2025-10-27T04:09:52.036Z,1761538192.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758277 2025-10-27T04:09:52.098Z,1761538192.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647268,0.740486,0.180900],[-0.762223,0.626319,0.163527],[0.007789,-0.243732,0.969811]] 2025-10-27T04:09:52.166Z,1761538192.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:52.184Z,1761538192.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 153.990463 m, bearing: 274.756561 deg, approach rate: -0.324959 m/s, LOS rate: -0.135962 deg/s, cmd heading: 262.643149 deg, new cmd heading: 262.469972 deg. 2025-10-27T04:09:52.188Z,1761538192.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580965 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:52.285Z,1761538192.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007417 2025-10-27T04:09:52.497Z,1761538192.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629839,0.754242,0.185531],[-0.776688,0.609218,0.160031],[0.007673,-0.244893,0.969520]] 2025-10-27T04:09:52.533Z,1761538192.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:52.536Z,1761538192.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259027 2025-10-27T04:09:52.539Z,1761538192.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:52.542Z,1761538192.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 153.873886 m, bearing: 274.709888 deg, approach rate: -0.315567 m/s, LOS rate: -0.126437 deg/s, cmd heading: 262.469963 deg, new cmd heading: 262.329838 deg. 2025-10-27T04:09:52.548Z,1761538192.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578519 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:52.789Z,1761538192.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511569 2025-10-27T04:09:52.901Z,1761538192.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611681,0.767879,0.190285],[-0.791070,0.591435,0.156248],[0.007439,-0.246102,0.969215]] 2025-10-27T04:09:52.932Z,1761538192.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:52.935Z,1761538192.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 153.737701 m, bearing: 274.657717 deg, approach rate: -0.342992 m/s, LOS rate: -0.131513 deg/s, cmd heading: 262.329835 deg, new cmd heading: 262.173183 deg. 2025-10-27T04:09:52.936Z,1761538192.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575785 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:53.043Z,1761538193.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765568 2025-10-27T04:09:53.292Z,1761538193.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846 2025-10-27T04:09:53.309Z,1761538193.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593432,0.780672,0.195933],[-0.804853,0.573396,0.153065],[0.007146,-0.248531,0.968598]] 2025-10-27T04:09:53.369Z,1761538193.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:53.376Z,1761538193.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 153.590714 m, bearing: 274.606446 deg, approach rate: -0.336515 m/s, LOS rate: -0.117492 deg/s, cmd heading: 262.173178 deg, new cmd heading: 262.019218 deg. 2025-10-27T04:09:53.377Z,1761538193.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573098 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:53.545Z,1761538193.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267561 2025-10-27T04:09:53.729Z,1761538193.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574783,0.793381,0.200426],[-0.818277,0.555212,0.148867],[0.006829,-0.249570,0.968333]] 2025-10-27T04:09:53.764Z,1761538193.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:53.766Z,1761538193.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 153.459335 m, bearing: 274.562580 deg, approach rate: -0.332558 m/s, LOS rate: -0.111132 deg/s, cmd heading: 262.019225 deg, new cmd heading: 261.887516 deg. 2025-10-27T04:09:53.772Z,1761538193.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570799 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:53.796Z,1761538193.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519210 2025-10-27T04:09:54.050Z,1761538194.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772819 2025-10-27T04:09:54.134Z,1761538194.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555724,0.806208,0.202979],[-0.831339,0.536898,0.143582],[0.006778,-0.248537,0.968599]] 2025-10-27T04:09:54.204Z,1761538194.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:54.212Z,1761538194.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 153.296661 m, bearing: 274.516114 deg, approach rate: -0.369439 m/s, LOS rate: -0.105640 deg/s, cmd heading: 261.887512 deg, new cmd heading: 261.747964 deg. 2025-10-27T04:09:54.216Z,1761538194.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568364 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:54.300Z,1761538194.300 [DAT](INFO): DAT read: Rx Time:04:09:52.9959 2025-10-27T04:09:54.300Z,1761538194.300 [DAT](INFO): Rx dataTimestamp_ set to:1761538194.300192 2025-10-27T04:09:54.301Z,1761538194.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024062 2025-10-27T04:09:54.517Z,1761538194.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536705,0.818154,0.206330],[-0.843745,0.518524,0.138661],[0.006459,-0.248509,0.968608]] 2025-10-27T04:09:54.540Z,1761538194.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:54.542Z,1761538194.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:54.552Z,1761538194.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274997 2025-10-27T04:09:54.565Z,1761538194.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 153.169556 m, bearing: 274.481399 deg, approach rate: -0.376415 m/s, LOS rate: -0.102889 deg/s, cmd heading: 261.747957 deg, new cmd heading: 261.643729 deg. 2025-10-27T04:09:54.566Z,1761538194.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566545 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:54.807Z,1761538194.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530007 2025-10-27T04:09:54.923Z,1761538194.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516858,0.830215,0.208810],[-0.856047,0.499409,0.133317],[0.006400,-0.247657,0.968827]] 2025-10-27T04:09:54.948Z,1761538194.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.40 m. 2025-10-27T04:09:54.951Z,1761538194.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.402054 m, nav range: 153.016113 m, bearing: 274.441415 deg, approach rate: -0.377909 m/s, LOS rate: -0.098575 deg/s, cmd heading: 261.643729 deg, new cmd heading: 261.523656 deg. 2025-10-27T04:09:54.952Z,1761538194.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564449 target range: 158.402054 and range: 159.10 m. 2025-10-27T04:09:55.077Z,1761538195.077 [DAT](INFO): DAT read: 04:09:52.9959 LVL= 29040, 32753, 26674, 32755, AGC= 67, IDX= 426, 0.14,-0.780,-1.905, 0.184,-0.666, PHS=-0.012,-1.194, 0.806, RAW= 174.0, 4.7, CAL= 173.4, 3.1, ROT= 336.6, -3.1 2025-10-27T04:09:55.082Z,1761538195.082 [DAT](INFO): got valid direction response: 04:09:52.9959 LVL= 29040, 32753, 26674, 32755, AGC= 67, IDX= 426, 0.14,-0.780,-1.905, 0.184,-0.666, PHS=-0.012,-1.194, 0.806, RAW= 174.0, 4.7, CAL= 173.4, 3.1, ROT= 336.6, -3.1 2025-10-27T04:09:55.085Z,1761538195.085 [DAT](INFO): DAT read: Bearing 90.4, -22.8 (Local) 2025-10-27T04:09:55.086Z,1761538195.086 [DAT](INFO): Local bearing/azimuth received: Bearing 90.4, -22.8 (Local) 2025-10-27T04:09:55.107Z,1761538195.107 [DAT](INFO): DAT read: Range 11 to 50 : 158.0 m (Round-trip 210.7 ms) speed 0.0 m/s 2025-10-27T04:09:55.110Z,1761538195.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:55.116Z,1761538195.116 [DAT](INFO): direction in FSK: [0.916412,-0.396567,0.054079] 2025-10-27T04:09:55.116Z,1761538195.116 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:55.131Z,1761538195.131 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:55.132Z,1761538195.132 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:55.133Z,1761538195.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:55.308Z,1761538195.308 [DAT](INFO): DAT read: user:65> 2025-10-27T04:09:55.309Z,1761538195.309 [DAT](INFO): DAT read: Tx time:04:09:54.4311 2025-10-27T04:09:55.309Z,1761538195.309 [DAT](INFO): Ping request sent. 2025-10-27T04:09:55.309Z,1761538195.309 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:55.309Z,1761538195.309 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:55.310Z,1761538195.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-27T04:09:55.331Z,1761538195.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496738,0.842231,0.209518],[-0.867875,0.480182,0.127351],[0.006652,-0.245096,0.969476]] 2025-10-27T04:09:55.407Z,1761538195.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.000000 m, deltaT: 4.031709 s, deltaX: -1.100006 m, approachRate: -0.272839 m/s, rangeRepo size: 4 2025-10-27T04:09:55.409Z,1761538195.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 157.302521 m, bearing: 277.711373 deg, lat: 36.779475 deg, lon: -121.859540 deg, deltaT: 4.031709 s, deltaX: -1.099533 m, approachRate: -0.272721 m/s, posRepo size: 4 2025-10-27T04:09:55.410Z,1761538195.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.30 m. 2025-10-27T04:09:55.413Z,1761538195.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.302521 m, nav range: 154.340729 m, bearing: 277.028927 deg, approach rate: 0.000000 m/s, LOS rate: -0.098575 deg/s, cmd heading: 261.523654 deg, new cmd heading: 261.388055 deg. 2025-10-27T04:09:55.414Z,1761538195.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562082 target range: 157.302521 and range: 158.00 m. 2025-10-27T04:09:55.560Z,1761538195.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250964 2025-10-27T04:09:55.745Z,1761538195.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454960,0.865715,0.208686],[-0.890481,0.440329,0.114690],[0.007398,-0.238010,0.971235]] 2025-10-27T04:09:55.764Z,1761538195.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.30 m. 2025-10-27T04:09:55.766Z,1761538195.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.302521 m, nav range: 154.177231 m, bearing: 277.000359 deg, approach rate: -0.457924 m/s, LOS rate: -0.080097 deg/s, cmd heading: 261.388061 deg, new cmd heading: 261.302267 deg. 2025-10-27T04:09:55.792Z,1761538195.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560585 target range: 157.302521 and range: 158.00 m. 2025-10-27T04:09:55.812Z,1761538195.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503213 2025-10-27T04:09:56.065Z,1761538196.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756179 2025-10-27T04:09:56.227Z,1761538196.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.30 m. 2025-10-27T04:09:56.230Z,1761538196.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.302521 m, nav range: 153.953217 m, bearing: 276.965455 deg, approach rate: -0.483192 m/s, LOS rate: -0.075395 deg/s, cmd heading: 261.302274 deg, new cmd heading: 261.197411 deg. 2025-10-27T04:09:56.231Z,1761538196.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558755 target range: 157.302521 and range: 158.00 m. 2025-10-27T04:09:56.317Z,1761538196.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007797 2025-10-27T04:09:56.548Z,1761538196.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410533,0.886769,0.212376],[-0.911808,0.397117,0.104419],[0.008257,-0.236514,0.971593]] 2025-10-27T04:09:56.565Z,1761538196.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:56.568Z,1761538196.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259255 2025-10-27T04:09:56.569Z,1761538196.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.30 m. 2025-10-27T04:09:56.572Z,1761538196.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.302521 m, nav range: 153.786026 m, bearing: 276.942864 deg, approach rate: -0.491984 m/s, LOS rate: -0.066553 deg/s, cmd heading: 261.197417 deg, new cmd heading: 261.129567 deg. 2025-10-27T04:09:56.573Z,1761538196.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557571 target range: 157.302521 and range: 158.00 m. 2025-10-27T04:09:56.821Z,1761538196.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511594 2025-10-27T04:09:56.948Z,1761538196.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387162,0.896772,0.214257],[-0.921967,0.374268,0.099494],[0.009034,-0.236059,0.971697]] 2025-10-27T04:09:56.976Z,1761538196.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.30 m. 2025-10-27T04:09:56.978Z,1761538196.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.302521 m, nav range: 153.583023 m, bearing: 276.917523 deg, approach rate: -0.497431 m/s, LOS rate: -0.062175 deg/s, cmd heading: 261.129579 deg, new cmd heading: 261.053458 deg. 2025-10-27T04:09:56.979Z,1761538196.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556242 target range: 157.302521 and range: 158.00 m. 2025-10-27T04:09:57.072Z,1761538197.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763288 2025-10-27T04:09:57.324Z,1761538197.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014806 2025-10-27T04:09:57.350Z,1761538197.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363307,0.905973,0.217302],[-0.931618,0.350817,0.094948],[0.009787,-0.236937,0.971476]] 2025-10-27T04:09:57.401Z,1761538197.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.30 m. 2025-10-27T04:09:57.404Z,1761538197.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.302521 m, nav range: 153.351791 m, bearing: 276.893497 deg, approach rate: -0.543296 m/s, LOS rate: -0.056536 deg/s, cmd heading: 261.053464 deg, new cmd heading: 260.981277 deg. 2025-10-27T04:09:57.405Z,1761538197.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554983 target range: 157.302521 and range: 158.00 m. 2025-10-27T04:09:57.577Z,1761538197.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267766 2025-10-27T04:09:57.756Z,1761538197.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339256,0.913549,0.224350],[-0.940638,0.326840,0.091521],[0.010282,-0.242081,0.970202]] 2025-10-27T04:09:57.779Z,1761538197.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.30 m. 2025-10-27T04:09:57.782Z,1761538197.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.302521 m, nav range: 153.144409 m, bearing: 276.874046 deg, approach rate: -0.547939 m/s, LOS rate: -0.051464 deg/s, cmd heading: 260.981282 deg, new cmd heading: 260.922848 deg. 2025-10-27T04:09:57.783Z,1761538197.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553963 target range: 157.302521 and range: 158.00 m. 2025-10-27T04:09:57.828Z,1761538197.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518977 2025-10-27T04:09:58.080Z,1761538198.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771144 2025-10-27T04:09:58.296Z,1761538198.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.30 m. 2025-10-27T04:09:58.299Z,1761538198.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.302521 m, nav range: 152.848999 m, bearing: 276.846147 deg, approach rate: -0.571332 m/s, LOS rate: -0.054060 deg/s, cmd heading: 260.922843 deg, new cmd heading: 260.838987 deg. 2025-10-27T04:09:58.300Z,1761538198.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552499 target range: 157.302521 and range: 158.00 m. 2025-10-27T04:09:58.332Z,1761538198.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023465 2025-10-27T04:09:58.585Z,1761538198.585 [DAT](INFO): DAT read: Rx Time:04:09:57.0435 2025-10-27T04:09:58.585Z,1761538198.585 [DAT](INFO): Rx dataTimestamp_ set to:1761538198.585107 2025-10-27T04:09:58.586Z,1761538198.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277294 2025-10-27T04:09:58.652Z,1761538198.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290917,0.928808,0.229529],[-0.956679,0.279514,0.081469],[0.011513,-0.243286,0.969886]] 2025-10-27T04:09:58.674Z,1761538198.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:09:58.676Z,1761538198.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.30 m. 2025-10-27T04:09:58.679Z,1761538198.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.302521 m, nav range: 152.629517 m, bearing: 276.829764 deg, approach rate: -0.577517 m/s, LOS rate: -0.043170 deg/s, cmd heading: 260.838996 deg, new cmd heading: 260.789776 deg. 2025-10-27T04:09:58.680Z,1761538198.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551640 target range: 157.302521 and range: 158.00 m. 2025-10-27T04:09:58.836Z,1761538198.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526818 2025-10-27T04:09:59.073Z,1761538199.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266537,0.936069,0.229636],[-0.963748,0.255827,0.075784],[0.012192,-0.241510,0.970322]] 2025-10-27T04:09:59.097Z,1761538199.097 [DAT](INFO): DAT read: 04:09:57.0435 LVL= 32752, 32753, 30898, 32755, AGC= 66, IDX= 412,-0.23,-0.858,-2.198,-0.219,-0.857, PHS= 0.101,-1.296, 0.595, RAW= 164.6, 7.1, CAL= 164.1, 7.0, ROT= 345.9, -7.0 2025-10-27T04:09:59.098Z,1761538199.098 [DAT](INFO): got valid direction response: 04:09:57.0435 LVL= 32752, 32753, 30898, 32755, AGC= 66, IDX= 412,-0.23,-0.858,-2.198,-0.219,-0.857, PHS= 0.101,-1.296, 0.595, RAW= 164.6, 7.1, CAL= 164.1, 7.0, ROT= 345.9, -7.0 2025-10-27T04:09:59.099Z,1761538199.099 [DAT](INFO): DAT read: Bearing 82.8, -14.7 (Local) 2025-10-27T04:09:59.100Z,1761538199.100 [DAT](INFO): Local bearing/azimuth received: Bearing 82.8, -14.7 (Local) 2025-10-27T04:09:59.101Z,1761538199.101 [DAT](INFO): DAT read: Range 11 to 50 : 156.2 m (Round-trip 208.3 ms) speed 0.9 m/s 2025-10-27T04:09:59.102Z,1761538199.102 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:09:59.103Z,1761538199.103 [DAT](INFO): direction in FSK: [0.962643,-0.241799,0.121869] 2025-10-27T04:09:59.103Z,1761538199.103 [DAT](INFO): publishing direction and range info 2025-10-27T04:09:59.136Z,1761538199.136 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:09:59.136Z,1761538199.136 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:09:59.138Z,1761538199.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:09:59.186Z,1761538199.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.199997 m, deltaT: 4.030528 s, deltaX: -1.800003 m, approachRate: -0.446592 m/s, rangeRepo size: 4 2025-10-27T04:09:59.196Z,1761538199.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.511124 m, bearing: 273.398832 deg, lat: 36.779475 deg, lon: -121.859549 deg, deltaT: 4.030528 s, deltaX: -1.791397 m, approachRate: -0.444457 m/s, posRepo size: 4 2025-10-27T04:09:59.197Z,1761538199.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:09:59.204Z,1761538199.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 153.179626 m, bearing: 276.778677 deg, approach rate: 0.000000 m/s, LOS rate: -0.043170 deg/s, cmd heading: 260.789764 deg, new cmd heading: 260.723815 deg. 2025-10-27T04:09:59.205Z,1761538199.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550489 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:09:59.340Z,1761538199.340 [DAT](INFO): DAT read: user:66> 2025-10-27T04:09:59.341Z,1761538199.341 [DAT](INFO): DAT read: Tx time:04:09:58.4311 2025-10-27T04:09:59.341Z,1761538199.341 [DAT](INFO): Ping request sent. 2025-10-27T04:09:59.341Z,1761538199.341 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:09:59.341Z,1761538199.341 [DAT](INFO): publishing transmit ping time 2025-10-27T04:09:59.342Z,1761538199.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-27T04:09:59.475Z,1761538199.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241923,0.942812,0.229301],[-0.970210,0.231915,0.070053],[0.012868,-0.239418,0.970831]] 2025-10-27T04:09:59.514Z,1761538199.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:09:59.552Z,1761538199.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 152.926895 m, bearing: 276.763921 deg, approach rate: -0.770020 m/s, LOS rate: -0.045032 deg/s, cmd heading: 260.723811 deg, new cmd heading: 260.679471 deg. 2025-10-27T04:09:59.556Z,1761538199.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549715 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:09:59.594Z,1761538199.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252921 2025-10-27T04:09:59.844Z,1761538199.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503005 2025-10-27T04:09:59.882Z,1761538199.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216856,0.949054,0.228625],[-0.976110,0.207557,0.064261],[0.013534,-0.237098,0.971391]] 2025-10-27T04:09:59.901Z,1761538199.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:09:59.903Z,1761538199.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 152.694092 m, bearing: 276.752574 deg, approach rate: -0.601638 m/s, LOS rate: -0.029369 deg/s, cmd heading: 260.679470 deg, new cmd heading: 260.645377 deg. 2025-10-27T04:09:59.904Z,1761538199.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549120 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:00.100Z,1761538200.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758316 2025-10-27T04:10:00.281Z,1761538200.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191407,0.953976,0.230854],[-0.981409,0.182625,0.059035],[0.014159,-0.237862,0.971196]] 2025-10-27T04:10:00.348Z,1761538200.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006794 2025-10-27T04:10:00.368Z,1761538200.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:00.376Z,1761538200.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 152.442047 m, bearing: 276.741648 deg, approach rate: -0.539572 m/s, LOS rate: -0.023429 deg/s, cmd heading: 260.645374 deg, new cmd heading: 260.612542 deg. 2025-10-27T04:10:00.377Z,1761538200.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548547 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:00.601Z,1761538200.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259690 2025-10-27T04:10:00.761Z,1761538200.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166441,0.958147,0.232919],[-0.985942,0.158196,0.053780],[0.014682,-0.238596,0.971008]] 2025-10-27T04:10:00.778Z,1761538200.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:00.780Z,1761538200.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:00.783Z,1761538200.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 152.178864 m, bearing: 276.732744 deg, approach rate: -0.637741 m/s, LOS rate: -0.021614 deg/s, cmd heading: 260.612534 deg, new cmd heading: 260.585775 deg. 2025-10-27T04:10:00.784Z,1761538200.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548080 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:00.852Z,1761538200.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510927 2025-10-27T04:10:01.108Z,1761538201.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766832 2025-10-27T04:10:01.250Z,1761538201.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:01.253Z,1761538201.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 151.917374 m, bearing: 276.723867 deg, approach rate: -0.565338 m/s, LOS rate: -0.019225 deg/s, cmd heading: 260.585787 deg, new cmd heading: 260.559110 deg. 2025-10-27T04:10:01.254Z,1761538201.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547615 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:01.360Z,1761538201.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019385 2025-10-27T04:10:01.581Z,1761538201.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116745,0.964428,0.237171],[-0.993049,0.109747,0.042544],[0.015002,-0.240489,0.970536]] 2025-10-27T04:10:01.612Z,1761538201.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271322 2025-10-27T04:10:01.637Z,1761538201.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:01.646Z,1761538201.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 151.699158 m, bearing: 276.719433 deg, approach rate: -0.554842 m/s, LOS rate: -0.011291 deg/s, cmd heading: 260.559122 deg, new cmd heading: 260.545800 deg. 2025-10-27T04:10:01.653Z,1761538201.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547382 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:01.864Z,1761538201.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523201 2025-10-27T04:10:01.981Z,1761538201.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092144,0.966411,0.239917],[-0.995632,0.085780,0.036857],[0.015039,-0.242265,0.970094]] 2025-10-27T04:10:02.000Z,1761538202.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:02.019Z,1761538202.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 151.485794 m, bearing: 276.717087 deg, approach rate: -0.586352 m/s, LOS rate: -0.006456 deg/s, cmd heading: 260.545789 deg, new cmd heading: 260.538741 deg. 2025-10-27T04:10:02.020Z,1761538202.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547259 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:02.117Z,1761538202.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775973 2025-10-27T04:10:02.368Z,1761538202.368 [DAT](INFO): DAT read: Rx Time:04:10:01.0724 2025-10-27T04:10:02.368Z,1761538202.368 [DAT](INFO): Rx dataTimestamp_ set to:1761538202.368122 2025-10-27T04:10:02.369Z,1761538202.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027855 2025-10-27T04:10:02.397Z,1761538202.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067730,0.968273,0.240539],[-0.997590,0.062087,0.030969],[0.015052,-0.242057,0.970145]] 2025-10-27T04:10:02.449Z,1761538202.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:02.452Z,1761538202.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 151.262787 m, bearing: 276.718630 deg, approach rate: -0.497421 m/s, LOS rate: 0.003447 deg/s, cmd heading: 260.538741 deg, new cmd heading: 260.543377 deg. 2025-10-27T04:10:02.452Z,1761538202.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547340 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:02.621Z,1761538202.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280141 2025-10-27T04:10:02.789Z,1761538202.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043475,0.969489,0.241250],[-0.998944,0.038589,0.024945],[0.014875,-0.242080,0.970142]] 2025-10-27T04:10:02.821Z,1761538202.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:02.823Z,1761538202.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:02.826Z,1761538202.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 151.076141 m, bearing: 276.721646 deg, approach rate: -0.497715 m/s, LOS rate: 0.008054 deg/s, cmd heading: 260.543385 deg, new cmd heading: 260.552446 deg. 2025-10-27T04:10:02.827Z,1761538202.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547498 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:02.872Z,1761538202.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531112 2025-10-27T04:10:03.134Z,1761538203.134 [DAT](INFO): DAT read: 04:10:01.0724 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 233, 0.19, 2.788, 1.091, 3.018, 2.647, PHS= 0.244,-1.510, 0.328, RAW= 152.3, 10.5, CAL= 152.1, 11.4, ROT= 357.9, -11.4 2025-10-27T04:10:03.136Z,1761538203.136 [DAT](INFO): got valid direction response: 04:10:01.0724 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 233, 0.19, 2.788, 1.091, 3.018, 2.647, PHS= 0.244,-1.510, 0.328, RAW= 152.3, 10.5, CAL= 152.1, 11.4, ROT= 357.9, -11.4 2025-10-27T04:10:03.137Z,1761538203.137 [DAT](INFO): DAT read: Bearing 75.2, -4.3 (Local) 2025-10-27T04:10:03.137Z,1761538203.137 [DAT](INFO): Local bearing/azimuth received: Bearing 75.2, -4.3 (Local) 2025-10-27T04:10:03.145Z,1761538203.145 [DAT](INFO): DAT read: Range 11 to 50 : 177.9 m (Round-trip 237.2 ms) speed 0.4 m/s 2025-10-27T04:10:03.147Z,1761538203.147 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:03.148Z,1761538203.148 [DAT](INFO): direction in FSK: [0.979613,-0.035921,0.197657] 2025-10-27T04:10:03.149Z,1761538203.149 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:03.233Z,1761538203.233 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:03.233Z,1761538203.233 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:03.233Z,1761538203.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:03.250Z,1761538203.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019459,0.969782,0.243197],[-0.999703,0.015307,0.018949],[0.014654,-0.243494,0.969792]] 2025-10-27T04:10:03.361Z,1761538203.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 177.899994 m, deltaT: 4.036606 s, deltaX: 21.699997 m, approachRate: 5.375803 m/s, rangeRepo size: 4 2025-10-27T04:10:03.361Z,1761538203.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:03.372Z,1761538203.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 150.839478 m, bearing: 276.727508 deg, approach rate: -0.442033 m/s, LOS rate: 0.010965 deg/s, cmd heading: 260.552456 deg, new cmd heading: 260.570068 deg. 2025-10-27T04:10:03.373Z,1761538203.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547806 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:03.376Z,1761538203.376 [DAT](INFO): DAT read: user:67> 2025-10-27T04:10:03.377Z,1761538203.377 [DAT](INFO): DAT read: Tx time:04:10:02.5311 2025-10-27T04:10:03.377Z,1761538203.377 [DAT](INFO): Ping request sent. 2025-10-27T04:10:03.377Z,1761538203.377 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:03.377Z,1761538203.377 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:03.378Z,1761538203.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-27T04:10:03.629Z,1761538203.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251754 2025-10-27T04:10:03.668Z,1761538203.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:03.671Z,1761538203.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 150.692383 m, bearing: 276.731160 deg, approach rate: -0.475548 m/s, LOS rate: 0.011821 deg/s, cmd heading: 260.570078 deg, new cmd heading: 260.581046 deg. 2025-10-27T04:10:03.672Z,1761538203.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547997 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:03.880Z,1761538203.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502587 2025-10-27T04:10:04.001Z,1761538204.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025550,0.968538,0.247552],[-0.999579,-0.028165,0.007027],[0.013778,-0.247268,0.968849]] 2025-10-27T04:10:04.029Z,1761538204.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:04.032Z,1761538204.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 150.514496 m, bearing: 276.738658 deg, approach rate: -0.492756 m/s, LOS rate: 0.020792 deg/s, cmd heading: 260.581033 deg, new cmd heading: 260.603552 deg. 2025-10-27T04:10:04.033Z,1761538204.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548390 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:04.138Z,1761538204.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760240 2025-10-27T04:10:04.384Z,1761538204.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006686 2025-10-27T04:10:04.406Z,1761538204.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047155,0.967111,0.249946],[-0.998795,-0.049056,0.001377],[0.013593,-0.249580,0.968259]] 2025-10-27T04:10:04.475Z,1761538204.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:04.478Z,1761538204.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 150.332748 m, bearing: 276.749114 deg, approach rate: -0.411474 m/s, LOS rate: 0.023702 deg/s, cmd heading: 260.603546 deg, new cmd heading: 260.634953 deg. 2025-10-27T04:10:04.479Z,1761538204.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548938 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:04.636Z,1761538204.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259044 2025-10-27T04:10:04.862Z,1761538204.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:04.864Z,1761538204.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:04.867Z,1761538204.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 150.169678 m, bearing: 276.758517 deg, approach rate: -0.414606 m/s, LOS rate: 0.023933 deg/s, cmd heading: 260.634964 deg, new cmd heading: 260.663204 deg. 2025-10-27T04:10:04.868Z,1761538204.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549431 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:04.888Z,1761538204.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510699 2025-10-27T04:10:05.141Z,1761538205.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763161 2025-10-27T04:10:05.256Z,1761538205.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087365,0.963989,0.251181],[-0.996087,-0.087905,-0.009092],[0.013316,-0.250992,0.967898]] 2025-10-27T04:10:05.310Z,1761538205.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:05.313Z,1761538205.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 150.001099 m, bearing: 276.773872 deg, approach rate: -0.377828 m/s, LOS rate: 0.034452 deg/s, cmd heading: 260.663214 deg, new cmd heading: 260.709330 deg. 2025-10-27T04:10:05.314Z,1761538205.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550236 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:05.394Z,1761538205.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015959 2025-10-27T04:10:05.629Z,1761538205.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105786,0.962572,0.249527],[-0.994303,-0.105692,-0.013816],[0.013074,-0.249567,0.968269]] 2025-10-27T04:10:05.645Z,1761538205.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267664 2025-10-27T04:10:05.681Z,1761538205.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:05.689Z,1761538205.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 149.873840 m, bearing: 276.786444 deg, approach rate: -0.343632 m/s, LOS rate: 0.033978 deg/s, cmd heading: 260.709331 deg, new cmd heading: 260.747081 deg. 2025-10-27T04:10:05.691Z,1761538205.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550895 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:05.896Z,1761538205.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518797 2025-10-27T04:10:06.026Z,1761538206.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123843,0.961280,0.246180],[-0.992220,-0.123149,-0.018275],[0.012750,-0.246528,0.969052]] 2025-10-27T04:10:06.054Z,1761538206.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:06.057Z,1761538206.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 149.729568 m, bearing: 276.801805 deg, approach rate: -0.386143 m/s, LOS rate: 0.041151 deg/s, cmd heading: 260.747089 deg, new cmd heading: 260.793214 deg. 2025-10-27T04:10:06.058Z,1761538206.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551700 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:06.149Z,1761538206.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771939 2025-10-27T04:10:06.400Z,1761538206.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022977 2025-10-27T04:10:06.434Z,1761538206.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140084,0.959810,0.243189],[-0.990064,-0.138814,-0.022440],[0.012220,-0.243916,0.969719]] 2025-10-27T04:10:06.490Z,1761538206.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:06.497Z,1761538206.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 149.584290 m, bearing: 276.820479 deg, approach rate: -0.333327 m/s, LOS rate: 0.042889 deg/s, cmd heading: 260.793206 deg, new cmd heading: 260.849285 deg. 2025-10-27T04:10:06.498Z,1761538206.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552679 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:06.652Z,1761538206.652 [DAT](INFO): DAT read: Rx Time:04:10:05.1699 2025-10-27T04:10:06.653Z,1761538206.653 [DAT](INFO): Rx dataTimestamp_ set to:1761538206.652464 2025-10-27T04:10:06.653Z,1761538206.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276063 2025-10-27T04:10:06.833Z,1761538206.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155179,0.958652,0.238548],[-0.987814,-0.153496,-0.025736],[0.011945,-0.239635,0.970790]] 2025-10-27T04:10:06.866Z,1761538206.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:06.868Z,1761538206.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.51 m. 2025-10-27T04:10:06.871Z,1761538206.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.511124 m, nav range: 149.446152 m, bearing: 276.839177 deg, approach rate: -0.365566 m/s, LOS rate: 0.049528 deg/s, cmd heading: 260.849296 deg, new cmd heading: 260.905441 deg. 2025-10-27T04:10:06.872Z,1761538206.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553659 target range: 155.511124 and range: 156.20 m. 2025-10-27T04:10:06.905Z,1761538206.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527300 2025-10-27T04:10:07.161Z,1761538207.161 [DAT](INFO): DAT read: 04:10:05.1699 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 93,-0.23,-1.841, 2.554,-2.179,-2.143, PHS= 0.404,-1.542,-0.080, RAW= 136.2, 13.8, CAL= 135.4, 14.9, ROT= 14.6, -14.9 2025-10-27T04:10:07.162Z,1761538207.162 [DAT](INFO): got valid direction response: 04:10:05.1699 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 93,-0.23,-1.841, 2.554,-2.179,-2.143, PHS= 0.404,-1.542,-0.080, RAW= 136.2, 13.8, CAL= 135.4, 14.9, ROT= 14.6, -14.9 2025-10-27T04:10:07.163Z,1761538207.163 [DAT](INFO): DAT read: Bearing 70.3, 10.7 (Local) 2025-10-27T04:10:07.164Z,1761538207.164 [DAT](INFO): Local bearing/azimuth received: Bearing 70.3, 10.7 (Local) 2025-10-27T04:10:07.165Z,1761538207.165 [DAT](INFO): DAT read: Range 11 to 50 : 175.9 m (Round-trip 234.6 ms) speed 1.2 m/s 2025-10-27T04:10:07.166Z,1761538207.166 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:07.167Z,1761538207.167 [DAT](INFO): direction in FSK: [0.935171,0.243594,0.257133] 2025-10-27T04:10:07.167Z,1761538207.167 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:07.170Z,1761538207.170 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:07.170Z,1761538207.170 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:07.170Z,1761538207.170 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:07.375Z,1761538207.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 175.899994 m, deltaT: 8.067874 s, deltaX: 19.699997 m, approachRate: 2.441783 m/s, rangeRepo size: 4 2025-10-27T04:10:07.377Z,1761538207.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 175.124359 m, bearing: 278.795406 deg, lat: 36.779493 deg, lon: -121.859553 deg, deltaT: 8.067874 s, deltaX: 19.613235 m, approachRate: 2.431029 m/s, posRepo size: 4 2025-10-27T04:10:07.378Z,1761538207.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:07.381Z,1761538207.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 149.856277 m, bearing: 277.595478 deg, approach rate: 0.000000 m/s, LOS rate: 0.049528 deg/s, cmd heading: 260.905440 deg, new cmd heading: 260.980646 deg. 2025-10-27T04:10:07.381Z,1761538207.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554972 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:07.408Z,1761538207.408 [DAT](INFO): DAT read: user:68> 2025-10-27T04:10:07.409Z,1761538207.409 [DAT](INFO): DAT read: Tx time:04:10:06.4827 2025-10-27T04:10:07.409Z,1761538207.409 [DAT](INFO): Ping request sent. 2025-10-27T04:10:07.409Z,1761538207.409 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:07.409Z,1761538207.409 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:07.410Z,1761538207.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-27T04:10:07.660Z,1761538207.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250705 2025-10-27T04:10:07.665Z,1761538207.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179248,0.957487,0.226028],[-0.983741,-0.177043,-0.030162],[0.011137,-0.227759,0.973654]] 2025-10-27T04:10:07.721Z,1761538207.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:07.729Z,1761538207.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 149.736496 m, bearing: 277.614748 deg, approach rate: -0.345372 m/s, LOS rate: 0.055607 deg/s, cmd heading: 260.980654 deg, new cmd heading: 261.038510 deg. 2025-10-27T04:10:07.730Z,1761538207.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555982 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:07.912Z,1761538207.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502835 2025-10-27T04:10:08.066Z,1761538208.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188458,0.956956,0.220726],[-0.982023,-0.186073,-0.031742],[0.010696,-0.222740,0.974819]] 2025-10-27T04:10:08.101Z,1761538208.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:08.108Z,1761538208.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 149.600342 m, bearing: 277.637269 deg, approach rate: -0.358618 m/s, LOS rate: 0.059373 deg/s, cmd heading: 261.038519 deg, new cmd heading: 261.106144 deg. 2025-10-27T04:10:08.109Z,1761538208.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557162 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:08.164Z,1761538208.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754750 2025-10-27T04:10:08.416Z,1761538208.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006670 2025-10-27T04:10:08.469Z,1761538208.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195254,0.956161,0.218248],[-0.980697,-0.192709,-0.033101],[0.010408,-0.220498,0.975332]] 2025-10-27T04:10:08.514Z,1761538208.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:08.517Z,1761538208.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 149.423508 m, bearing: 277.664716 deg, approach rate: -0.428016 m/s, LOS rate: 0.066513 deg/s, cmd heading: 261.106138 deg, new cmd heading: 261.188577 deg. 2025-10-27T04:10:08.518Z,1761538208.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558600 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:08.647Z,1761538208.647 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:10:08.668Z,1761538208.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258692 2025-10-27T04:10:08.906Z,1761538208.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:08.908Z,1761538208.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:08.920Z,1761538208.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510642 2025-10-27T04:10:08.927Z,1761538208.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 149.260895 m, bearing: 277.690017 deg, approach rate: -0.412157 m/s, LOS rate: 0.064198 deg/s, cmd heading: 261.188565 deg, new cmd heading: 261.264551 deg. 2025-10-27T04:10:08.928Z,1761538208.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559927 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:09.172Z,1761538209.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762635 2025-10-27T04:10:09.330Z,1761538209.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203936,0.956509,0.208570],[-0.978936,-0.201355,-0.033765],[0.009700,-0.211062,0.977425]] 2025-10-27T04:10:09.378Z,1761538209.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:09.381Z,1761538209.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 149.039017 m, bearing: 277.721781 deg, approach rate: -0.472714 m/s, LOS rate: 0.067773 deg/s, cmd heading: 261.264544 deg, new cmd heading: 261.359976 deg. 2025-10-27T04:10:09.382Z,1761538209.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561592 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:09.425Z,1761538209.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015272 2025-10-27T04:10:09.651Z,1761538209.651 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:10:09.676Z,1761538209.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266811 2025-10-27T04:10:09.683Z,1761538209.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206619,0.957112,0.203088],[-0.978380,-0.204030,-0.033838],[0.009050,-0.205689,0.978576]] 2025-10-27T04:10:09.748Z,1761538209.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:09.750Z,1761538209.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 148.869751 m, bearing: 277.746260 deg, approach rate: -0.457450 m/s, LOS rate: 0.066231 deg/s, cmd heading: 261.359975 deg, new cmd heading: 261.433496 deg. 2025-10-27T04:10:09.752Z,1761538209.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562875 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:09.928Z,1761538209.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518620 2025-10-27T04:10:10.089Z,1761538210.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208305,0.957776,0.198179],[-0.978025,-0.205790,-0.033437],[0.008758,-0.200789,0.979595]] 2025-10-27T04:10:10.108Z,1761538210.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:10.110Z,1761538210.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 148.694504 m, bearing: 277.771776 deg, approach rate: -0.487095 m/s, LOS rate: 0.071005 deg/s, cmd heading: 261.433495 deg, new cmd heading: 261.510134 deg. 2025-10-27T04:10:10.113Z,1761538210.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564213 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:10.181Z,1761538210.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771702 2025-10-27T04:10:10.432Z,1761538210.432 [DAT](INFO): DAT read: Rx Time:04:10:09.0873 2025-10-27T04:10:10.433Z,1761538210.433 [DAT](INFO): Rx dataTimestamp_ set to:1761538210.432226 2025-10-27T04:10:10.433Z,1761538210.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023854 2025-10-27T04:10:10.494Z,1761538210.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209132,0.959113,0.190700],[-0.977849,-0.206838,-0.032083],[0.008673,-0.193186,0.981124]] 2025-10-27T04:10:10.539Z,1761538210.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:10.547Z,1761538210.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 148.466644 m, bearing: 277.801342 deg, approach rate: -0.528116 m/s, LOS rate: 0.068632 deg/s, cmd heading: 261.510130 deg, new cmd heading: 261.598966 deg. 2025-10-27T04:10:10.548Z,1761538210.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565763 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:10.684Z,1761538210.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274603 2025-10-27T04:10:10.921Z,1761538210.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209149,0.960876,0.181587],[-0.977847,-0.207111,-0.030329],[0.008466,-0.183908,0.982907]] 2025-10-27T04:10:10.950Z,1761538210.950 [DAT](INFO): DAT read: 04:10:09.0873 LVL= 23776, 30801, 32674, 32755, AGC= 70, IDX= 97, 0.30,-1.915, 2.487,-2.466,-2.323, PHS= 0.510,-1.428,-0.187, RAW= 129.2, 12.9, CAL= 128.7, 14.1, ROT= 21.3, -14.1 2025-10-27T04:10:10.951Z,1761538210.951 [DAT](INFO): got valid direction response: 04:10:09.0873 LVL= 23776, 30801, 32674, 32755, AGC= 70, IDX= 97, 0.30,-1.915, 2.487,-2.466,-2.323, PHS= 0.510,-1.428,-0.187, RAW= 129.2, 12.9, CAL= 128.7, 14.1, ROT= 21.3, -14.1 2025-10-27T04:10:10.952Z,1761538210.952 [DAT](INFO): DAT read: Bearing 66.7, 17.9 (Local) 2025-10-27T04:10:10.952Z,1761538210.952 [DAT](INFO): Local bearing/azimuth received: Bearing 66.7, 17.9 (Local) 2025-10-27T04:10:10.953Z,1761538210.953 [DAT](INFO): DAT read: Range 11 to 50 : 150.3 m (Round-trip 200.4 ms) speed 0.3 m/s 2025-10-27T04:10:10.954Z,1761538210.954 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:10.968Z,1761538210.968 [DAT](INFO): direction in FSK: [0.903621,0.352307,0.243615] 2025-10-27T04:10:10.969Z,1761538210.969 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:10.984Z,1761538210.984 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:10.984Z,1761538210.984 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:10.984Z,1761538210.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:11.077Z,1761538211.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 150.300003 m, deltaT: 3.781663 s, deltaX: -25.599991 m, approachRate: -6.769506 m/s, rangeRepo size: 4 2025-10-27T04:10:11.078Z,1761538211.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:11.092Z,1761538211.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 148.215790 m, bearing: 277.833937 deg, approach rate: -0.466707 m/s, LOS rate: 0.060745 deg/s, cmd heading: 261.598977 deg, new cmd heading: 261.696928 deg. 2025-10-27T04:10:11.093Z,1761538211.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567473 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:11.188Z,1761538211.188 [DAT](INFO): DAT read: user:69> 2025-10-27T04:10:11.189Z,1761538211.189 [DAT](INFO): DAT read: Tx time:04:10:10.2811 2025-10-27T04:10:11.189Z,1761538211.189 [DAT](INFO): Ping request sent. 2025-10-27T04:10:11.189Z,1761538211.189 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:11.189Z,1761538211.189 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:11.190Z,1761538211.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-27T04:10:11.433Z,1761538211.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207008,0.964550,0.163680],[-0.978305,-0.205475,-0.026428],[0.008141,-0.165600,0.986159]] 2025-10-27T04:10:11.440Z,1761538211.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250699 2025-10-27T04:10:11.485Z,1761538211.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:11.491Z,1761538211.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:11.494Z,1761538211.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 147.947449 m, bearing: 277.867613 deg, approach rate: -0.653501 m/s, LOS rate: 0.082161 deg/s, cmd heading: 261.696922 deg, new cmd heading: 261.798133 deg. 2025-10-27T04:10:11.500Z,1761538211.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569240 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:11.692Z,1761538211.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502999 2025-10-27T04:10:11.842Z,1761538211.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205831,0.966229,0.155031],[-0.978553,-0.204563,-0.024265],[0.008268,-0.156701,0.987612]] 2025-10-27T04:10:11.861Z,1761538211.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:11.864Z,1761538211.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 147.718094 m, bearing: 277.896332 deg, approach rate: -0.613801 m/s, LOS rate: 0.076978 deg/s, cmd heading: 261.798146 deg, new cmd heading: 261.884437 deg. 2025-10-27T04:10:11.865Z,1761538211.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570745 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:11.944Z,1761538211.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754944 2025-10-27T04:10:12.196Z,1761538212.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006609 2025-10-27T04:10:12.238Z,1761538212.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204369,0.967875,0.146460],[-0.978858,-0.203352,-0.022045],[0.008446,-0.147869,0.988971]] 2025-10-27T04:10:12.256Z,1761538212.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:12.259Z,1761538212.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 147.485565 m, bearing: 277.925347 deg, approach rate: -0.587918 m/s, LOS rate: 0.073475 deg/s, cmd heading: 261.884425 deg, new cmd heading: 261.971605 deg. 2025-10-27T04:10:12.260Z,1761538212.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572267 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:12.448Z,1761538212.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258907 2025-10-27T04:10:12.654Z,1761538212.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203428,0.969290,0.138178],[-0.979050,-0.202651,-0.019822],[0.008789,-0.139316,0.990209]] 2025-10-27T04:10:12.701Z,1761538212.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511503 2025-10-27T04:10:12.727Z,1761538212.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:12.730Z,1761538212.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 147.206833 m, bearing: 277.958198 deg, approach rate: -0.619163 m/s, LOS rate: 0.073111 deg/s, cmd heading: 261.971605 deg, new cmd heading: 262.070344 deg. 2025-10-27T04:10:12.737Z,1761538212.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573990 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:12.953Z,1761538212.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763607 2025-10-27T04:10:13.054Z,1761538213.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202488,0.970315,0.132238],[-0.979244,-0.201864,-0.018246],[0.008990,-0.133187,0.991050]] 2025-10-27T04:10:13.073Z,1761538213.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:13.076Z,1761538213.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 146.972092 m, bearing: 277.985849 deg, approach rate: -0.640501 m/s, LOS rate: 0.075569 deg/s, cmd heading: 262.070342 deg, new cmd heading: 262.153429 deg. 2025-10-27T04:10:13.077Z,1761538213.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575440 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:13.204Z,1761538213.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014633 2025-10-27T04:10:13.456Z,1761538213.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266684 2025-10-27T04:10:13.508Z,1761538213.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:13.510Z,1761538213.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:13.513Z,1761538213.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 146.697342 m, bearing: 278.019972 deg, approach rate: -0.628725 m/s, LOS rate: 0.078231 deg/s, cmd heading: 262.153425 deg, new cmd heading: 262.255984 deg. 2025-10-27T04:10:13.514Z,1761538213.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577230 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:13.709Z,1761538213.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519365 2025-10-27T04:10:13.900Z,1761538213.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:13.902Z,1761538213.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 146.452164 m, bearing: 278.050536 deg, approach rate: -0.628802 m/s, LOS rate: 0.078518 deg/s, cmd heading: 262.255987 deg, new cmd heading: 262.347832 deg. 2025-10-27T04:10:13.938Z,1761538213.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578834 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:13.960Z,1761538213.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770928 2025-10-27T04:10:14.212Z,1761538214.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022695 2025-10-27T04:10:14.266Z,1761538214.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199680,0.972094,0.123132],[-0.979823,-0.199201,-0.016311],[0.008672,-0.123904,0.992256]] 2025-10-27T04:10:14.291Z,1761538214.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:14.293Z,1761538214.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 146.205688 m, bearing: 278.081056 deg, approach rate: -0.630956 m/s, LOS rate: 0.078263 deg/s, cmd heading: 262.347839 deg, new cmd heading: 262.439556 deg. 2025-10-27T04:10:14.294Z,1761538214.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580434 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:14.464Z,1761538214.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274574 2025-10-27T04:10:14.670Z,1761538214.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198271,0.972581,0.121554],[-0.980111,-0.197796,-0.016084],[0.008400,-0.122325,0.992455]] 2025-10-27T04:10:14.717Z,1761538214.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527724 2025-10-27T04:10:14.760Z,1761538214.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:14.767Z,1761538214.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 145.945999 m, bearing: 278.113856 deg, approach rate: -0.552928 m/s, LOS rate: 0.069961 deg/s, cmd heading: 262.439555 deg, new cmd heading: 262.538129 deg. 2025-10-27T04:10:14.768Z,1761538214.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582155 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:14.968Z,1761538214.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778632 2025-10-27T04:10:15.128Z,1761538215.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196868,0.972899,0.121290],[-0.980397,-0.196363,-0.016227],[0.008029,-0.122107,0.992485]] 2025-10-27T04:10:15.152Z,1761538215.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:15.155Z,1761538215.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 145.704453 m, bearing: 278.144323 deg, approach rate: -0.616285 m/s, LOS rate: 0.077862 deg/s, cmd heading: 262.538128 deg, new cmd heading: 262.629680 deg. 2025-10-27T04:10:15.156Z,1761538215.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583753 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:15.221Z,1761538215.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031660 2025-10-27T04:10:15.472Z,1761538215.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282635 2025-10-27T04:10:15.570Z,1761538215.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:15.573Z,1761538215.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:15.576Z,1761538215.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 145.480835 m, bearing: 278.175955 deg, approach rate: -0.531763 m/s, LOS rate: 0.075337 deg/s, cmd heading: 262.629680 deg, new cmd heading: 262.724722 deg. 2025-10-27T04:10:15.577Z,1761538215.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585412 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:15.724Z,1761538215.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535173 2025-10-27T04:10:15.921Z,1761538215.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192865,0.973864,0.119969],[-0.981205,-0.192205,-0.017158],[0.006349,-0.121024,0.992629]] 2025-10-27T04:10:15.940Z,1761538215.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:15.942Z,1761538215.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 145.284988 m, bearing: 278.203393 deg, approach rate: -0.533867 m/s, LOS rate: 0.074895 deg/s, cmd heading: 262.724729 deg, new cmd heading: 262.807154 deg. 2025-10-27T04:10:15.943Z,1761538215.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586850 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:15.978Z,1761538215.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788999 2025-10-27T04:10:16.228Z,1761538216.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038610 2025-10-27T04:10:16.326Z,1761538216.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190434,0.974453,0.119067],[-0.981686,-0.189662,-0.017889],[0.005150,-0.120293,0.992725]] 2025-10-27T04:10:16.365Z,1761538216.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:16.368Z,1761538216.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 145.060120 m, bearing: 278.234748 deg, approach rate: -0.528139 m/s, LOS rate: 0.073756 deg/s, cmd heading: 262.807156 deg, new cmd heading: 262.901366 deg. 2025-10-27T04:10:16.369Z,1761538216.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588494 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:16.481Z,1761538216.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291598 2025-10-27T04:10:16.732Z,1761538216.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542733 2025-10-27T04:10:16.739Z,1761538216.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186844,0.975048,0.119880],[-0.982383,-0.185907,-0.019052],[0.003710,-0.121327,0.992606]] 2025-10-27T04:10:16.848Z,1761538216.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:16.850Z,1761538216.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 144.822632 m, bearing: 278.271442 deg, approach rate: -0.492448 m/s, LOS rate: 0.076212 deg/s, cmd heading: 262.901358 deg, new cmd heading: 263.011620 deg. 2025-10-27T04:10:16.855Z,1761538216.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590419 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:16.984Z,1761538216.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794620 2025-10-27T04:10:17.207Z,1761538217.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:17.210Z,1761538217.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 144.630463 m, bearing: 278.301228 deg, approach rate: -0.534796 m/s, LOS rate: 0.083004 deg/s, cmd heading: 263.011624 deg, new cmd heading: 263.101102 deg. 2025-10-27T04:10:17.211Z,1761538217.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591980 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:17.236Z,1761538217.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046941 2025-10-27T04:10:17.488Z,1761538217.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298657 2025-10-27T04:10:17.573Z,1761538217.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178741,0.976411,0.121132],[-0.983896,-0.177462,-0.021357],[0.000643,-0.122998,0.992407]] 2025-10-27T04:10:17.667Z,1761538217.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:17.669Z,1761538217.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:17.672Z,1761538217.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 144.424774 m, bearing: 278.335977 deg, approach rate: -0.445071 m/s, LOS rate: 0.075298 deg/s, cmd heading: 263.101100 deg, new cmd heading: 263.205496 deg. 2025-10-27T04:10:17.673Z,1761538217.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593802 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:17.741Z,1761538217.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552190 2025-10-27T04:10:17.978Z,1761538217.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174164,0.977037,0.122740],[-0.984716,-0.172669,-0.022798],[-0.001081,-0.124835,0.992177]] 2025-10-27T04:10:17.992Z,1761538217.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802781 2025-10-27T04:10:17.998Z,1761538217.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:18.001Z,1761538218.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 144.278244 m, bearing: 278.360471 deg, approach rate: -0.445069 m/s, LOS rate: 0.074473 deg/s, cmd heading: 263.205492 deg, new cmd heading: 263.279048 deg. 2025-10-27T04:10:18.002Z,1761538218.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595086 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:18.244Z,1761538218.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054615 2025-10-27T04:10:18.382Z,1761538218.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169046,0.977776,0.124010],[-0.985603,-0.167306,-0.024387],[-0.003098,-0.126347,0.991981]] 2025-10-27T04:10:18.474Z,1761538218.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:18.481Z,1761538218.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 144.084351 m, bearing: 278.392487 deg, approach rate: -0.407773 m/s, LOS rate: 0.067422 deg/s, cmd heading: 263.279040 deg, new cmd heading: 263.375215 deg. 2025-10-27T04:10:18.481Z,1761538218.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596765 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:18.496Z,1761538218.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306796 2025-10-27T04:10:18.748Z,1761538218.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558709 2025-10-27T04:10:18.796Z,1761538218.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164242,0.978808,0.122306],[-0.986409,-0.162380,-0.025106],[-0.004714,-0.124768,0.992175]] 2025-10-27T04:10:18.832Z,1761538218.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:18.851Z,1761538218.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 143.912445 m, bearing: 278.423386 deg, approach rate: -0.479505 m/s, LOS rate: 0.086292 deg/s, cmd heading: 263.375209 deg, new cmd heading: 263.468017 deg. 2025-10-27T04:10:18.852Z,1761538218.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598384 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:19.004Z,1761538219.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814439 2025-10-27T04:10:19.190Z,1761538219.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159004,0.979931,0.120217],[-0.987259,-0.157058,-0.025555],[-0.006161,-0.122748,0.992419]] 2025-10-27T04:10:19.224Z,1761538219.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:19.227Z,1761538219.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 143.751373 m, bearing: 278.452008 deg, approach rate: -0.411084 m/s, LOS rate: 0.073131 deg/s, cmd heading: 263.468018 deg, new cmd heading: 263.553981 deg. 2025-10-27T04:10:19.228Z,1761538219.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599885 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:19.258Z,1761538219.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069047 2025-10-27T04:10:19.512Z,1761538219.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322776 2025-10-27T04:10:19.594Z,1761538219.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154066,0.980902,0.118720],[-0.988034,-0.152064,-0.025792],[-0.007246,-0.121273,0.992593]] 2025-10-27T04:10:19.668Z,1761538219.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:19.670Z,1761538219.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:19.673Z,1761538219.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 143.556244 m, bearing: 278.484670 deg, approach rate: -0.437800 m/s, LOS rate: 0.073381 deg/s, cmd heading: 263.553969 deg, new cmd heading: 263.652087 deg. 2025-10-27T04:10:19.674Z,1761538219.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601597 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:19.764Z,1761538219.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574703 2025-10-27T04:10:19.997Z,1761538219.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149414,0.981415,0.120413],[-0.988743,-0.147324,-0.026128],[-0.007902,-0.122961,0.992380]] 2025-10-27T04:10:20.016Z,1761538220.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826757 2025-10-27T04:10:20.025Z,1761538220.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:20.049Z,1761538220.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 143.390854 m, bearing: 278.512061 deg, approach rate: -0.465514 m/s, LOS rate: 0.077186 deg/s, cmd heading: 263.652078 deg, new cmd heading: 263.734347 deg. 2025-10-27T04:10:20.050Z,1761538220.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603033 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:20.269Z,1761538220.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079326 2025-10-27T04:10:20.402Z,1761538220.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145447,0.981743,0.122580],[-0.989332,-0.143299,-0.026207],[-0.008163,-0.125084,0.992113]] 2025-10-27T04:10:20.466Z,1761538220.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:20.489Z,1761538220.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 143.209900 m, bearing: 278.541765 deg, approach rate: -0.411120 m/s, LOS rate: 0.067571 deg/s, cmd heading: 263.734340 deg, new cmd heading: 263.823564 deg. 2025-10-27T04:10:20.497Z,1761538220.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604590 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:20.520Z,1761538220.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330746 2025-10-27T04:10:20.772Z,1761538220.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582652 2025-10-27T04:10:20.806Z,1761538220.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142196,0.981903,0.125091],[-0.989806,-0.140020,-0.026062],[-0.008075,-0.127522,0.991803]] 2025-10-27T04:10:20.853Z,1761538220.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:20.856Z,1761538220.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 143.015930 m, bearing: 278.573040 deg, approach rate: -0.499903 m/s, LOS rate: 0.080710 deg/s, cmd heading: 263.823570 deg, new cmd heading: 263.917520 deg. 2025-10-27T04:10:20.857Z,1761538220.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606230 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:21.024Z,1761538221.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834800 2025-10-27T04:10:21.212Z,1761538221.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139403,0.982034,0.127182],[-0.990206,-0.137249,-0.025591],[-0.007676,-0.129504,0.991549]] 2025-10-27T04:10:21.230Z,1761538221.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:21.233Z,1761538221.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 142.841110 m, bearing: 278.601076 deg, approach rate: -0.463486 m/s, LOS rate: 0.074422 deg/s, cmd heading: 263.917526 deg, new cmd heading: 264.001738 deg. 2025-10-27T04:10:21.234Z,1761538221.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607699 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:21.276Z,1761538221.276 [DAT](INFO): Reached modem response timeout 2025-10-27T04:10:21.276Z,1761538221.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:10:21.276Z,1761538221.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:21.528Z,1761538221.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:10:21.673Z,1761538221.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:21.675Z,1761538221.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:21.678Z,1761538221.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 142.606735 m, bearing: 278.634991 deg, approach rate: -0.526716 m/s, LOS rate: 0.076343 deg/s, cmd heading: 264.001729 deg, new cmd heading: 264.103641 deg. 2025-10-27T04:10:21.679Z,1761538221.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609478 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:21.780Z,1761538221.780 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:10:22.018Z,1761538222.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135012,0.981853,0.133176],[-0.990827,-0.133005,-0.023889],[-0.005743,-0.135179,0.990804]] 2025-10-27T04:10:22.032Z,1761538222.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:10:22.044Z,1761538222.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:22.047Z,1761538222.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 142.411606 m, bearing: 278.662938 deg, approach rate: -0.529173 m/s, LOS rate: 0.075894 deg/s, cmd heading: 264.103635 deg, new cmd heading: 264.187591 deg. 2025-10-27T04:10:22.048Z,1761538222.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610943 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:22.285Z,1761538222.285 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:10:22.423Z,1761538222.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133248,0.981865,0.134859],[-0.991072,-0.131363,-0.022820],[-0.004690,-0.136696,0.990602]] 2025-10-27T04:10:22.442Z,1761538222.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:22.444Z,1761538222.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 142.201660 m, bearing: 278.692931 deg, approach rate: -0.528310 m/s, LOS rate: 0.075585 deg/s, cmd heading: 264.187592 deg, new cmd heading: 264.277702 deg. 2025-10-27T04:10:22.445Z,1761538222.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612516 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:22.537Z,1761538222.537 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:10:22.788Z,1761538222.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:10:22.828Z,1761538222.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131967,0.982121,0.134254],[-0.991248,-0.130287,-0.021256],[-0.003384,-0.135884,0.990719]] 2025-10-27T04:10:22.865Z,1761538222.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:22.868Z,1761538222.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 141.967651 m, bearing: 278.723537 deg, approach rate: -0.552935 m/s, LOS rate: 0.072439 deg/s, cmd heading: 264.277696 deg, new cmd heading: 264.369667 deg. 2025-10-27T04:10:22.869Z,1761538222.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614121 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:23.040Z,1761538223.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:10:23.231Z,1761538223.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130794,0.982375,0.133534],[-0.991407,-0.129289,-0.019914],[-0.002299,-0.134991,0.990844]] 2025-10-27T04:10:23.249Z,1761538223.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:23.252Z,1761538223.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 141.755005 m, bearing: 278.751328 deg, approach rate: -0.553032 m/s, LOS rate: 0.072383 deg/s, cmd heading: 264.369657 deg, new cmd heading: 264.453153 deg. 2025-10-27T04:10:23.253Z,1761538223.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615578 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:23.292Z,1761538223.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:10:23.544Z,1761538223.544 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:10:23.544Z,1761538223.544 [DAT](INFO): response not received 2025-10-27T04:10:23.545Z,1761538223.545 [DAT](INFO): DAT read: user:70> 2025-10-27T04:10:23.545Z,1761538223.545 [DAT](INFO): DAT read: Tx time:04:10:22.7311 2025-10-27T04:10:23.546Z,1761538223.546 [DAT](INFO): Ping request sent. 2025-10-27T04:10:23.546Z,1761538223.546 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:23.546Z,1761538223.546 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:23.546Z,1761538223.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-27T04:10:23.639Z,1761538223.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130225,0.982523,0.133006],[-0.991483,-0.128858,-0.018873],[-0.001404,-0.134331,0.990935]] 2025-10-27T04:10:23.688Z,1761538223.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:23.691Z,1761538223.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:23.696Z,1761538223.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 141.505707 m, bearing: 278.783310 deg, approach rate: -0.564680 m/s, LOS rate: 0.072569 deg/s, cmd heading: 264.453149 deg, new cmd heading: 264.549264 deg. 2025-10-27T04:10:23.697Z,1761538223.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617256 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:23.798Z,1761538223.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251789 2025-10-27T04:10:24.037Z,1761538224.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130178,0.982706,0.131688],[-0.991490,-0.128940,-0.017921],[-0.000631,-0.132900,0.991129]] 2025-10-27T04:10:24.048Z,1761538224.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502284 2025-10-27T04:10:24.065Z,1761538224.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:24.067Z,1761538224.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 141.293335 m, bearing: 278.810644 deg, approach rate: -0.568189 m/s, LOS rate: 0.073241 deg/s, cmd heading: 264.549264 deg, new cmd heading: 264.631390 deg. 2025-10-27T04:10:24.068Z,1761538224.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618689 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:24.300Z,1761538224.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754159 2025-10-27T04:10:24.442Z,1761538224.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130085,0.982927,0.130125],[-0.991503,-0.128896,-0.017554],[-0.000482,-0.131303,0.991342]] 2025-10-27T04:10:24.475Z,1761538224.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:24.478Z,1761538224.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 141.060898 m, bearing: 278.840647 deg, approach rate: -0.566280 m/s, LOS rate: 0.073216 deg/s, cmd heading: 264.631390 deg, new cmd heading: 264.721548 deg. 2025-10-27T04:10:24.479Z,1761538224.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620263 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:24.558Z,1761538224.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011980 2025-10-27T04:10:24.804Z,1761538224.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258190 2025-10-27T04:10:24.850Z,1761538224.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130001,0.983115,0.128782],[-0.991514,-0.128798,-0.017660],[-0.000775,-0.129985,0.991516]] 2025-10-27T04:10:24.906Z,1761538224.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:24.909Z,1761538224.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 140.807968 m, bearing: 278.872065 deg, approach rate: -0.586808 m/s, LOS rate: 0.073023 deg/s, cmd heading: 264.721549 deg, new cmd heading: 264.815973 deg. 2025-10-27T04:10:24.910Z,1761538224.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621911 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:25.056Z,1761538225.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510097 2025-10-27T04:10:25.249Z,1761538225.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130275,0.983191,0.127924],[-0.991478,-0.129072,-0.017688],[-0.000879,-0.129138,0.991626]] 2025-10-27T04:10:25.285Z,1761538225.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:25.293Z,1761538225.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 140.581955 m, bearing: 278.900268 deg, approach rate: -0.596809 m/s, LOS rate: 0.074592 deg/s, cmd heading: 264.815969 deg, new cmd heading: 264.900714 deg. 2025-10-27T04:10:25.294Z,1761538225.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623390 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:25.308Z,1761538225.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762391 2025-10-27T04:10:25.562Z,1761538225.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015800 2025-10-27T04:10:25.654Z,1761538225.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130464,0.983034,0.128930],[-0.991453,-0.129248,-0.017791],[-0.000825,-0.130149,0.991494]] 2025-10-27T04:10:25.691Z,1761538225.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:25.694Z,1761538225.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:25.724Z,1761538225.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 140.328491 m, bearing: 278.932256 deg, approach rate: -0.619734 m/s, LOS rate: 0.078352 deg/s, cmd heading: 264.900718 deg, new cmd heading: 264.996853 deg. 2025-10-27T04:10:25.725Z,1761538225.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625068 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:25.812Z,1761538225.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266458 2025-10-27T04:10:26.057Z,1761538226.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130430,0.982773,0.130936],[-0.991457,-0.129160,-0.018188],[-0.000963,-0.132190,0.991224]] 2025-10-27T04:10:26.064Z,1761538226.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518589 2025-10-27T04:10:26.093Z,1761538226.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:26.098Z,1761538226.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 140.087570 m, bearing: 278.962766 deg, approach rate: -0.602948 m/s, LOS rate: 0.076489 deg/s, cmd heading: 264.996860 deg, new cmd heading: 265.088548 deg. 2025-10-27T04:10:26.101Z,1761538226.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626668 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:26.316Z,1761538226.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770116 2025-10-27T04:10:26.502Z,1761538226.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:26.505Z,1761538226.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 139.846039 m, bearing: 278.993465 deg, approach rate: -0.590351 m/s, LOS rate: 0.075165 deg/s, cmd heading: 265.088548 deg, new cmd heading: 265.180806 deg. 2025-10-27T04:10:26.506Z,1761538226.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628278 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:26.571Z,1761538226.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024968 2025-10-27T04:10:26.820Z,1761538226.820 [DAT](INFO): DAT read: Rx Time:04:10:25.3239 2025-10-27T04:10:26.820Z,1761538226.820 [DAT](INFO): Rx dataTimestamp_ set to:1761538226.820074 2025-10-27T04:10:26.821Z,1761538226.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275161 2025-10-27T04:10:26.941Z,1761538226.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:26.944Z,1761538226.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 139.583923 m, bearing: 279.027823 deg, approach rate: -0.597288 m/s, LOS rate: 0.078437 deg/s, cmd heading: 265.180810 deg, new cmd heading: 265.284075 deg. 2025-10-27T04:10:26.945Z,1761538226.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630081 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:27.072Z,1761538227.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526181 2025-10-27T04:10:27.269Z,1761538227.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128461,0.982826,0.132482],[-0.991712,-0.127005,-0.019421],[-0.002262,-0.133878,0.990995]] 2025-10-27T04:10:27.287Z,1761538227.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-27T04:10:27.290Z,1761538227.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124359 m, nav range: 139.375854 m, bearing: 279.055003 deg, approach rate: -0.601082 m/s, LOS rate: 0.078637 deg/s, cmd heading: 265.284083 deg, new cmd heading: 265.365745 deg. 2025-10-27T04:10:27.291Z,1761538227.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631506 target range: 175.124359 and range: 175.90 m. 2025-10-27T04:10:27.329Z,1761538227.329 [DAT](INFO): DAT read: 04:10:25.3239 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 296,-0.05, 1.927, 0.052, 1.569, 1.613, PHS= 0.415,-1.517,-0.088, RAW= 135.5, 13.6, CAL= 134.7, 14.7, ROT= 15.3, -14.7 2025-10-27T04:10:27.331Z,1761538227.331 [DAT](INFO): got valid direction response: 04:10:25.3239 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 296,-0.05, 1.927, 0.052, 1.569, 1.613, PHS= 0.415,-1.517,-0.088, RAW= 135.5, 13.6, CAL= 134.7, 14.7, ROT= 15.3, -14.7 2025-10-27T04:10:27.332Z,1761538227.332 [DAT](INFO): DAT read: Bearing 71.5, 12.2 (Local) 2025-10-27T04:10:27.332Z,1761538227.332 [DAT](INFO): Local bearing/azimuth received: Bearing 71.5, 12.2 (Local) 2025-10-27T04:10:27.333Z,1761538227.333 [DAT](INFO): DAT read: Range 11 to 50 : 141.4 m (Round-trip 188.6 ms) speed 0.6 m/s 2025-10-27T04:10:27.334Z,1761538227.334 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:27.335Z,1761538227.335 [DAT](INFO): direction in FSK: [0.932985,0.255236,0.253758] 2025-10-27T04:10:27.336Z,1761538227.336 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:27.340Z,1761538227.340 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:27.340Z,1761538227.340 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:27.340Z,1761538227.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:27.578Z,1761538227.578 [DAT](INFO): DAT read: user:71> 2025-10-27T04:10:27.581Z,1761538227.581 [DAT](INFO): DAT read: Tx time:04:10:26.6311 2025-10-27T04:10:27.582Z,1761538227.582 [DAT](INFO): Ping request sent. 2025-10-27T04:10:27.582Z,1761538227.582 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:27.588Z,1761538227.588 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:27.593Z,1761538227.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.008287 2025-10-27T04:10:27.678Z,1761538227.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127481,0.983021,0.131980],[-0.991838,-0.126000,-0.019545],[-0.002583,-0.133394,0.991060]] 2025-10-27T04:10:27.754Z,1761538227.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 141.399994 m, deltaT: 20.168236 s, deltaX: -34.500000 m, approachRate: -1.710611 m/s, rangeRepo size: 4 2025-10-27T04:10:27.757Z,1761538227.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 140.768127 m, bearing: 279.754018 deg, lat: 36.779505 deg, lon: -121.859553 deg, deltaT: 20.168236 s, deltaX: -34.356232 m, approachRate: -1.703482 m/s, posRepo size: 4 2025-10-27T04:10:27.759Z,1761538227.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m. 2025-10-27T04:10:27.766Z,1761538227.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.768127 m, nav range: 139.332901 m, bearing: 279.623182 deg, approach rate: 0.000000 m/s, LOS rate: 0.078637 deg/s, cmd heading: 265.365745 deg, new cmd heading: 265.475776 deg. 2025-10-27T04:10:27.766Z,1761538227.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633426 target range: 140.768127 and range: 141.40 m. 2025-10-27T04:10:27.834Z,1761538227.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251625 2025-10-27T04:10:28.078Z,1761538228.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125530,0.983090,0.133327],[-0.992086,-0.124011,-0.019669],[-0.002802,-0.134741,0.990877]] 2025-10-27T04:10:28.084Z,1761538228.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501808 2025-10-27T04:10:28.101Z,1761538228.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:28.105Z,1761538228.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m. 2025-10-27T04:10:28.110Z,1761538228.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.768127 m, nav range: 139.140640 m, bearing: 279.651288 deg, approach rate: -0.548506 m/s, LOS rate: 0.080294 deg/s, cmd heading: 265.475765 deg, new cmd heading: 265.560199 deg. 2025-10-27T04:10:28.112Z,1761538228.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634900 target range: 140.768127 and range: 141.40 m. 2025-10-27T04:10:28.336Z,1761538228.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753838 2025-10-27T04:10:28.489Z,1761538228.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122711,0.983502,0.132913],[-0.992439,-0.121234,-0.019180],[-0.002750,-0.134262,0.990942]] 2025-10-27T04:10:28.508Z,1761538228.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m. 2025-10-27T04:10:28.510Z,1761538228.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.768127 m, nav range: 138.914398 m, bearing: 279.684173 deg, approach rate: -0.561073 m/s, LOS rate: 0.081688 deg/s, cmd heading: 265.560186 deg, new cmd heading: 265.659004 deg. 2025-10-27T04:10:28.511Z,1761538228.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636624 target range: 140.768127 and range: 141.40 m. 2025-10-27T04:10:28.595Z,1761538228.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011992 2025-10-27T04:10:28.844Z,1761538228.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261792 2025-10-27T04:10:28.932Z,1761538228.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m. 2025-10-27T04:10:28.934Z,1761538228.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.768127 m, nav range: 138.684326 m, bearing: 279.718129 deg, approach rate: -0.543122 m/s, LOS rate: 0.080291 deg/s, cmd heading: 265.659006 deg, new cmd heading: 265.761042 deg. 2025-10-27T04:10:28.935Z,1761538228.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638405 target range: 140.768127 and range: 141.40 m. 2025-10-27T04:10:29.098Z,1761538229.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515413 2025-10-27T04:10:29.292Z,1761538229.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115901,0.984623,0.130710],[-0.993259,-0.114681,-0.016849],[-0.001600,-0.131782,0.991278]] 2025-10-27T04:10:29.310Z,1761538229.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m. 2025-10-27T04:10:29.313Z,1761538229.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.768127 m, nav range: 138.478027 m, bearing: 279.748028 deg, approach rate: -0.544353 m/s, LOS rate: 0.079010 deg/s, cmd heading: 265.761049 deg, new cmd heading: 265.850878 deg. 2025-10-27T04:10:29.314Z,1761538229.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639973 target range: 140.768127 and range: 141.40 m. 2025-10-27T04:10:29.348Z,1761538229.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766351 2025-10-27T04:10:29.604Z,1761538229.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020651 2025-10-27T04:10:29.696Z,1761538229.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112133,0.985384,0.128235],[-0.993693,-0.111157,-0.014771],[-0.000301,-0.129083,0.991634]] 2025-10-27T04:10:29.749Z,1761538229.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m. 2025-10-27T04:10:29.768Z,1761538229.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.768127 m, nav range: 138.256393 m, bearing: 279.782495 deg, approach rate: -0.504817 m/s, LOS rate: 0.078632 deg/s, cmd heading: 265.850879 deg, new cmd heading: 265.954447 deg. 2025-10-27T04:10:29.769Z,1761538229.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641781 target range: 140.768127 and range: 141.40 m. 2025-10-27T04:10:29.852Z,1761538229.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269967 2025-10-27T04:10:30.105Z,1761538230.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522568 2025-10-27T04:10:30.106Z,1761538230.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108218,0.986145,0.125721],[-0.994126,-0.107497,-0.012526],[0.001162,-0.126339,0.991987]] 2025-10-27T04:10:30.145Z,1761538230.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:30.147Z,1761538230.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m. 2025-10-27T04:10:30.150Z,1761538230.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.768127 m, nav range: 138.055389 m, bearing: 279.813489 deg, approach rate: -0.505381 m/s, LOS rate: 0.078040 deg/s, cmd heading: 265.954452 deg, new cmd heading: 266.047569 deg. 2025-10-27T04:10:30.151Z,1761538230.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643406 target range: 140.768127 and range: 141.40 m. 2025-10-27T04:10:30.356Z,1761538230.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773784 2025-10-27T04:10:30.501Z,1761538230.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104151,0.986748,0.124424],[-0.994558,-0.103665,-0.010392],[0.002644,-0.124829,0.992175]] 2025-10-27T04:10:30.533Z,1761538230.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m. 2025-10-27T04:10:30.536Z,1761538230.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.768127 m, nav range: 137.859558 m, bearing: 279.843405 deg, approach rate: -0.507131 m/s, LOS rate: 0.077582 deg/s, cmd heading: 266.047561 deg, new cmd heading: 266.137437 deg. 2025-10-27T04:10:30.537Z,1761538230.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644975 target range: 140.768127 and range: 141.40 m. 2025-10-27T04:10:30.613Z,1761538230.613 [DAT](INFO): DAT read: Rx Time:04:10:29.2209 2025-10-27T04:10:30.654Z,1761538230.654 [DAT](INFO): Rx dataTimestamp_ set to:1761538230.613445 2025-10-27T04:10:30.654Z,1761538230.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.072260 2025-10-27T04:10:30.860Z,1761538230.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277849 2025-10-27T04:10:30.905Z,1761538230.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099987,0.987405,0.122614],[-0.994980,-0.099729,-0.008255],[0.004077,-0.122824,0.992420]] 2025-10-27T04:10:30.957Z,1761538230.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m. 2025-10-27T04:10:30.960Z,1761538230.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.768127 m, nav range: 137.646317 m, bearing: 279.876244 deg, approach rate: -0.503054 m/s, LOS rate: 0.077590 deg/s, cmd heading: 266.137447 deg, new cmd heading: 266.236117 deg. 2025-10-27T04:10:30.961Z,1761538230.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646697 target range: 140.768127 and range: 141.40 m. 2025-10-27T04:10:31.124Z,1761538231.124 [DAT](INFO): DAT read: 04:10:29.2209 LVL= 27872, 32753, 32754, 32755, AGC= 66, IDX= 410, 0.33, 1.224,-0.640, 0.932, 0.869, PHS= 0.458,-1.464, 0.020, RAW= 137.4, 11.3, CAL= 136.9, 12.3, ROT= 13.1, -12.3 2025-10-27T04:10:31.125Z,1761538231.125 [DAT](INFO): got valid direction response: 04:10:29.2209 LVL= 27872, 32753, 32754, 32755, AGC= 66, IDX= 410, 0.33, 1.224,-0.640, 0.932, 0.869, PHS= 0.458,-1.464, 0.020, RAW= 137.4, 11.3, CAL= 136.9, 12.3, ROT= 13.1, -12.3 2025-10-27T04:10:31.126Z,1761538231.126 [DAT](INFO): DAT read: Bearing 69.8, 11.1 (Local) 2025-10-27T04:10:31.127Z,1761538231.127 [DAT](INFO): Local bearing/azimuth received: Bearing 69.8, 11.1 (Local) 2025-10-27T04:10:31.129Z,1761538231.129 [DAT](INFO): DAT read: Range 11 to 50 : 139.2 m (Round-trip 185.7 ms) speed 0.4 m/s 2025-10-27T04:10:31.130Z,1761538231.130 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:31.136Z,1761538231.136 [DAT](INFO): direction in FSK: [0.951619,0.221449,0.213030] 2025-10-27T04:10:31.136Z,1761538231.136 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:31.144Z,1761538231.144 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:31.144Z,1761538231.144 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:31.144Z,1761538231.144 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:31.335Z,1761538231.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096140,0.987718,0.123169],[-0.995353,-0.096072,-0.006501],[0.005412,-0.123222,0.992364]] 2025-10-27T04:10:31.358Z,1761538231.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 3.790209 s, deltaX: -2.199997 m, approachRate: -0.580442 m/s, rangeRepo size: 4 2025-10-27T04:10:31.369Z,1761538231.369 [DAT](INFO): DAT read: user:72> 2025-10-27T04:10:31.369Z,1761538231.369 [DAT](INFO): DAT read: Tx time:04:10:30.4311 2025-10-27T04:10:31.370Z,1761538231.370 [DAT](INFO): Ping request sent. 2025-10-27T04:10:31.370Z,1761538231.370 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:31.370Z,1761538231.370 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:31.371Z,1761538231.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T04:10:31.380Z,1761538231.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 138.578964 m, bearing: 278.992460 deg, lat: 36.779505 deg, lon: -121.859542 deg, deltaT: 3.790209 s, deltaX: -2.189163 m, approachRate: -0.577584 m/s, posRepo size: 4 2025-10-27T04:10:31.381Z,1761538231.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.58 m. 2025-10-27T04:10:31.387Z,1761538231.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.578964 m, nav range: 136.465775 m, bearing: 279.978662 deg, approach rate: 0.000000 m/s, LOS rate: 0.077590 deg/s, cmd heading: 266.236129 deg, new cmd heading: 266.329272 deg. 2025-10-27T04:10:31.388Z,1761538231.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648323 target range: 138.578964 and range: 139.20 m. 2025-10-27T04:10:31.623Z,1761538231.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252561 2025-10-27T04:10:31.825Z,1761538231.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.58 m. 2025-10-27T04:10:31.828Z,1761538231.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.578964 m, nav range: 136.230377 m, bearing: 280.015218 deg, approach rate: -0.503201 m/s, LOS rate: 0.078279 deg/s, cmd heading: 266.329266 deg, new cmd heading: 266.439122 deg. 2025-10-27T04:10:31.829Z,1761538231.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650240 target range: 138.578964 and range: 139.20 m. 2025-10-27T04:10:31.872Z,1761538231.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502105 2025-10-27T04:10:32.124Z,1761538232.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754621 2025-10-27T04:10:32.159Z,1761538232.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089243,0.988141,0.124950],[-0.995986,-0.089404,-0.004327],[0.006895,-0.124834,0.992154]] 2025-10-27T04:10:32.197Z,1761538232.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:32.200Z,1761538232.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.58 m. 2025-10-27T04:10:32.202Z,1761538232.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.578964 m, nav range: 136.042603 m, bearing: 280.043850 deg, approach rate: -0.500977 m/s, LOS rate: 0.076496 deg/s, cmd heading: 266.439123 deg, new cmd heading: 266.525139 deg. 2025-10-27T04:10:32.203Z,1761538232.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651741 target range: 138.578964 and range: 139.20 m. 2025-10-27T04:10:32.376Z,1761538232.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006050 2025-10-27T04:10:32.633Z,1761538232.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262367 2025-10-27T04:10:32.715Z,1761538232.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.58 m. 2025-10-27T04:10:32.724Z,1761538232.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.578964 m, nav range: 135.805618 m, bearing: 280.080107 deg, approach rate: -0.470966 m/s, LOS rate: 0.072180 deg/s, cmd heading: 266.525128 deg, new cmd heading: 266.634089 deg. 2025-10-27T04:10:32.726Z,1761538232.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653643 target range: 138.578964 and range: 139.20 m. 2025-10-27T04:10:32.884Z,1761538232.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514028 2025-10-27T04:10:33.053Z,1761538233.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081847,0.988550,0.126764],[-0.996620,-0.082087,-0.003341],[0.007103,-0.126609,0.991927]] 2025-10-27T04:10:33.094Z,1761538233.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.58 m. 2025-10-27T04:10:33.111Z,1761538233.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.578964 m, nav range: 135.604843 m, bearing: 280.110215 deg, approach rate: -0.513762 m/s, LOS rate: 0.077156 deg/s, cmd heading: 266.634083 deg, new cmd heading: 266.724539 deg. 2025-10-27T04:10:33.113Z,1761538233.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655221 target range: 138.578964 and range: 139.20 m. 2025-10-27T04:10:33.136Z,1761538233.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766211 2025-10-27T04:10:33.389Z,1761538233.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019240 2025-10-27T04:10:33.455Z,1761538233.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079749,0.988410,0.129172],[-0.996789,-0.080006,-0.003204],[0.007167,-0.129013,0.991617]] 2025-10-27T04:10:33.474Z,1761538233.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.58 m. 2025-10-27T04:10:33.477Z,1761538233.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.578964 m, nav range: 135.402863 m, bearing: 280.140395 deg, approach rate: -0.530655 m/s, LOS rate: 0.079410 deg/s, cmd heading: 266.724542 deg, new cmd heading: 266.815219 deg. 2025-10-27T04:10:33.478Z,1761538233.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656804 target range: 138.578964 and range: 139.20 m. 2025-10-27T04:10:33.643Z,1761538233.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272294 2025-10-27T04:10:33.866Z,1761538233.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078081,0.988237,0.131497],[-0.996920,-0.078359,-0.003066],[0.007274,-0.131331,0.991312]] 2025-10-27T04:10:33.892Z,1761538233.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522109 2025-10-27T04:10:33.946Z,1761538233.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.58 m. 2025-10-27T04:10:33.953Z,1761538233.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.578964 m, nav range: 135.164566 m, bearing: 280.174352 deg, approach rate: -0.505016 m/s, LOS rate: 0.072092 deg/s, cmd heading: 266.815220 deg, new cmd heading: 266.917272 deg. 2025-10-27T04:10:33.954Z,1761538233.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658585 target range: 138.578964 and range: 139.20 m. 2025-10-27T04:10:34.144Z,1761538234.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773998 2025-10-27T04:10:34.288Z,1761538234.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076463,0.988296,0.132000],[-0.997048,-0.076706,-0.003252],[0.006911,-0.131859,0.991244]] 2025-10-27T04:10:34.304Z,1761538234.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:34.306Z,1761538234.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.58 m. 2025-10-27T04:10:34.309Z,1761538234.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.578964 m, nav range: 134.975342 m, bearing: 280.201264 deg, approach rate: -0.525311 m/s, LOS rate: 0.074813 deg/s, cmd heading: 266.917263 deg, new cmd heading: 266.998110 deg. 2025-10-27T04:10:34.310Z,1761538234.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659996 target range: 138.578964 and range: 139.20 m. 2025-10-27T04:10:34.397Z,1761538234.397 [DAT](INFO): DAT read: Rx Time:04:10:33.0183 2025-10-27T04:10:34.398Z,1761538234.398 [DAT](INFO): Rx dataTimestamp_ set to:1761538234.397492 2025-10-27T04:10:34.399Z,1761538234.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028833 2025-10-27T04:10:34.651Z,1761538234.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280503 2025-10-27T04:10:34.726Z,1761538234.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074957,0.988452,0.131695],[-0.997165,-0.075162,-0.003420],[0.006518,-0.131578,0.991284]] 2025-10-27T04:10:34.780Z,1761538234.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.58 m. 2025-10-27T04:10:34.782Z,1761538234.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.578964 m, nav range: 134.730408 m, bearing: 280.234080 deg, approach rate: -0.517578 m/s, LOS rate: 0.069472 deg/s, cmd heading: 266.998105 deg, new cmd heading: 267.096735 deg. 2025-10-27T04:10:34.787Z,1761538234.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661717 target range: 138.578964 and range: 139.20 m. 2025-10-27T04:10:34.905Z,1761538234.905 [DAT](INFO): DAT read: 04:10:33.0183 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.01,-2.474, 1.950,-2.714,-2.759, PHS= 0.388,-1.529, 0.002, RAW= 139.0, 12.9, CAL= 138.3, 14.0, ROT= 11.7, -14.0 2025-10-27T04:10:34.906Z,1761538234.906 [DAT](INFO): got valid direction response: 04:10:33.0183 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.01,-2.474, 1.950,-2.714,-2.759, PHS= 0.388,-1.529, 0.002, RAW= 139.0, 12.9, CAL= 138.3, 14.0, ROT= 11.7, -14.0 2025-10-27T04:10:34.908Z,1761538234.908 [DAT](INFO): DAT read: Bearing 73.2, 9.6 (Local) 2025-10-27T04:10:34.908Z,1761538234.908 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, 9.6 (Local) 2025-10-27T04:10:34.909Z,1761538234.909 [DAT](INFO): DAT read: Range 11 to 50 : 137.3 m (Round-trip 183.1 ms) speed 0.7 m/s 2025-10-27T04:10:34.910Z,1761538234.910 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:34.911Z,1761538234.911 [DAT](INFO): direction in FSK: [0.950136,0.196764,0.241922] 2025-10-27T04:10:34.911Z,1761538234.911 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:34.914Z,1761538234.914 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:34.915Z,1761538234.915 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:34.919Z,1761538234.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:35.114Z,1761538235.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073107,0.988927,0.129150],[-0.997308,-0.073236,-0.003757],[0.005743,-0.129077,0.991618]] 2025-10-27T04:10:35.141Z,1761538235.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.300003 m, deltaT: 3.785646 s, deltaX: -1.899994 m, approachRate: -0.501894 m/s, rangeRepo size: 4 2025-10-27T04:10:35.152Z,1761538235.152 [DAT](INFO): DAT read: user:73> 2025-10-27T04:10:35.152Z,1761538235.152 [DAT](INFO): DAT read: Tx time:04:10:34.2311 2025-10-27T04:10:35.153Z,1761538235.153 [DAT](INFO): Ping request sent. 2025-10-27T04:10:35.153Z,1761538235.153 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:35.153Z,1761538235.153 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:35.154Z,1761538235.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T04:10:35.163Z,1761538235.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.687149 m, bearing: 279.223923 deg, lat: 36.779505 deg, lon: -121.859533 deg, deltaT: 3.785646 s, deltaX: -1.891815 m, approachRate: -0.499734 m/s, posRepo size: 4 2025-10-27T04:10:35.164Z,1761538235.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.69 m. 2025-10-27T04:10:35.166Z,1761538235.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.687149 m, nav range: 133.779007 m, bearing: 280.319051 deg, approach rate: 0.000000 m/s, LOS rate: 0.069472 deg/s, cmd heading: 267.096733 deg, new cmd heading: 267.171928 deg. 2025-10-27T04:10:35.168Z,1761538235.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663030 target range: 136.687149 and range: 137.30 m. 2025-10-27T04:10:35.405Z,1761538235.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251533 2025-10-27T04:10:35.507Z,1761538235.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071423,0.989081,0.128906],[-0.997433,-0.071484,-0.004159],[0.005101,-0.128873,0.991648]] 2025-10-27T04:10:35.525Z,1761538235.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.69 m. 2025-10-27T04:10:35.528Z,1761538235.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.687149 m, nav range: 133.570526 m, bearing: 280.347080 deg, approach rate: -0.541886 m/s, LOS rate: 0.072968 deg/s, cmd heading: 267.171920 deg, new cmd heading: 267.256139 deg. 2025-10-27T04:10:35.529Z,1761538235.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664500 target range: 136.687149 and range: 137.30 m. 2025-10-27T04:10:35.659Z,1761538235.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505566 2025-10-27T04:10:35.906Z,1761538235.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069613,0.989136,0.129475],[-0.997565,-0.069566,-0.004890],[0.004171,-0.129500,0.991571]] 2025-10-27T04:10:35.908Z,1761538235.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755307 2025-10-27T04:10:35.968Z,1761538235.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.69 m. 2025-10-27T04:10:35.975Z,1761538235.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.687149 m, nav range: 133.330551 m, bearing: 280.377407 deg, approach rate: -0.541672 m/s, LOS rate: 0.068578 deg/s, cmd heading: 267.256150 deg, new cmd heading: 267.347295 deg. 2025-10-27T04:10:35.976Z,1761538235.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666090 target range: 136.687149 and range: 137.30 m. 2025-10-27T04:10:36.160Z,1761538236.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006989 2025-10-27T04:10:36.346Z,1761538236.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:36.348Z,1761538236.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.69 m. 2025-10-27T04:10:36.350Z,1761538236.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.687149 m, nav range: 133.116776 m, bearing: 280.404518 deg, approach rate: -0.563040 m/s, LOS rate: 0.071517 deg/s, cmd heading: 267.347292 deg, new cmd heading: 267.428753 deg. 2025-10-27T04:10:36.396Z,1761538236.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667512 target range: 136.687149 and range: 137.30 m. 2025-10-27T04:10:36.412Z,1761538236.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258995 2025-10-27T04:10:36.665Z,1761538236.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512274 2025-10-27T04:10:36.753Z,1761538236.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066295,0.988951,0.132596],[-0.997797,-0.066025,-0.006441],[0.002385,-0.132731,0.991149]] 2025-10-27T04:10:36.797Z,1761538236.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.69 m. 2025-10-27T04:10:36.800Z,1761538236.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.687149 m, nav range: 132.862717 m, bearing: 280.435226 deg, approach rate: -0.565898 m/s, LOS rate: 0.068532 deg/s, cmd heading: 267.428762 deg, new cmd heading: 267.521063 deg. 2025-10-27T04:10:36.801Z,1761538236.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669123 target range: 136.687149 and range: 137.30 m. 2025-10-27T04:10:36.916Z,1761538236.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762972 2025-10-27T04:10:37.151Z,1761538237.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064730,0.989238,0.131217],[-0.997902,-0.064345,-0.007178],[0.001342,-0.131406,0.991328]] 2025-10-27T04:10:37.168Z,1761538237.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015055 2025-10-27T04:10:37.171Z,1761538237.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.69 m. 2025-10-27T04:10:37.174Z,1761538237.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.687149 m, nav range: 132.651886 m, bearing: 280.460647 deg, approach rate: -0.563521 m/s, LOS rate: 0.068053 deg/s, cmd heading: 267.521052 deg, new cmd heading: 267.597434 deg. 2025-10-27T04:10:37.175Z,1761538237.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670456 target range: 136.687149 and range: 137.30 m. 2025-10-27T04:10:37.421Z,1761538237.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268083 2025-10-27T04:10:37.554Z,1761538237.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063666,0.989407,0.130459],[-0.997971,-0.063209,-0.007643],[0.000684,-0.130681,0.991424]] 2025-10-27T04:10:37.625Z,1761538237.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.69 m. 2025-10-27T04:10:37.632Z,1761538237.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.687149 m, nav range: 132.423721 m, bearing: 280.488140 deg, approach rate: -0.543426 m/s, LOS rate: 0.065595 deg/s, cmd heading: 267.597441 deg, new cmd heading: 267.680064 deg. 2025-10-27T04:10:37.633Z,1761538237.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671898 target range: 136.687149 and range: 137.30 m. 2025-10-27T04:10:37.672Z,1761538237.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519158 2025-10-27T04:10:37.924Z,1761538237.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770896 2025-10-27T04:10:37.962Z,1761538237.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062470,0.989501,0.130325],[-0.998047,-0.061942,-0.008108],[0.000050,-0.130577,0.991438]] 2025-10-27T04:10:38.029Z,1761538238.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.69 m. 2025-10-27T04:10:38.031Z,1761538238.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.687149 m, nav range: 132.167618 m, bearing: 280.519112 deg, approach rate: -0.585052 m/s, LOS rate: 0.070890 deg/s, cmd heading: 267.680059 deg, new cmd heading: 267.773153 deg. 2025-10-27T04:10:38.032Z,1761538238.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673523 target range: 136.687149 and range: 137.30 m. 2025-10-27T04:10:38.176Z,1761538238.176 [DAT](INFO): DAT read: Rx Time:04:10:36.8154 2025-10-27T04:10:38.177Z,1761538238.177 [DAT](INFO): Rx dataTimestamp_ set to:1761538238.176354 2025-10-27T04:10:38.177Z,1761538238.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024270 2025-10-27T04:10:38.362Z,1761538238.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060923,0.989584,0.130428],[-0.998142,-0.060301,-0.008717],[-0.000761,-0.130717,0.991419]] 2025-10-27T04:10:38.382Z,1761538238.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:38.384Z,1761538238.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.69 m. 2025-10-27T04:10:38.411Z,1761538238.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.687149 m, nav range: 131.963943 m, bearing: 280.543684 deg, approach rate: -0.572614 m/s, LOS rate: 0.069190 deg/s, cmd heading: 267.773140 deg, new cmd heading: 267.846972 deg. 2025-10-27T04:10:38.412Z,1761538238.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674811 target range: 136.687149 and range: 137.30 m. 2025-10-27T04:10:38.428Z,1761538238.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275137 2025-10-27T04:10:38.688Z,1761538238.688 [DAT](INFO): DAT read: 04:10:36.8154 LVL= 27904, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.22, 1.037,-0.849, 0.838, 0.775, PHS= 0.365,-1.578, 0.019, RAW= 140.4, 13.2, CAL= 139.7, 14.3, ROT= 10.3, -14.3 2025-10-27T04:10:38.691Z,1761538238.691 [DAT](INFO): got valid direction response: 04:10:36.8154 LVL= 27904, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.22, 1.037,-0.849, 0.838, 0.775, PHS= 0.365,-1.578, 0.019, RAW= 140.4, 13.2, CAL= 139.7, 14.3, ROT= 10.3, -14.3 2025-10-27T04:10:38.694Z,1761538238.694 [DAT](INFO): DAT read: Bearing 73.9, 7.7 (Local) 2025-10-27T04:10:38.694Z,1761538238.694 [DAT](INFO): Local bearing/azimuth received: Bearing 73.9, 7.7 (Local) 2025-10-27T04:10:38.698Z,1761538238.698 [DAT](INFO): DAT read: Range 11 to 50 : 135.0 m (Round-trip 180.1 ms) speed 0.4 m/s 2025-10-27T04:10:38.699Z,1761538238.699 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:38.701Z,1761538238.701 [DAT](INFO): direction in FSK: [0.953400,0.173262,0.246999] 2025-10-27T04:10:38.701Z,1761538238.701 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:38.749Z,1761538238.749 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:38.750Z,1761538238.750 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:38.759Z,1761538238.759 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:38.817Z,1761538238.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059947,0.989621,0.130602],[-0.998201,-0.059270,-0.009066],[-0.001231,-0.130911,0.991393]] 2025-10-27T04:10:38.924Z,1761538238.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.000000 m, deltaT: 3.780907 s, deltaX: -2.300003 m, approachRate: -0.608320 m/s, rangeRepo size: 4 2025-10-27T04:10:38.926Z,1761538238.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 134.397964 m, bearing: 278.643491 deg, lat: 36.779483 deg, lon: -121.859533 deg, deltaT: 3.780907 s, deltaX: -2.289185 m, approachRate: -0.605459 m/s, posRepo size: 4 2025-10-27T04:10:38.932Z,1761538238.932 [DAT](INFO): DAT read: user:74> 2025-10-27T04:10:38.933Z,1761538238.933 [DAT](INFO): DAT read: Tx time:04:10:38.0811 2025-10-27T04:10:38.933Z,1761538238.933 [DAT](INFO): Ping request sent. 2025-10-27T04:10:38.933Z,1761538238.933 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:38.933Z,1761538238.933 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:38.934Z,1761538238.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000777 2025-10-27T04:10:38.935Z,1761538238.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:38.938Z,1761538238.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 131.257172 m, bearing: 279.559336 deg, approach rate: 0.000000 m/s, LOS rate: 0.069190 deg/s, cmd heading: 267.846961 deg, new cmd heading: 267.958699 deg. 2025-10-27T04:10:38.939Z,1761538238.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676762 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:39.184Z,1761538239.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250890 2025-10-27T04:10:39.248Z,1761538239.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059468,0.989388,0.132567],[-0.998229,-0.058749,-0.009335],[-0.001447,-0.132888,0.991130]] 2025-10-27T04:10:39.266Z,1761538239.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:39.269Z,1761538239.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 131.047989 m, bearing: 279.583310 deg, approach rate: -0.608434 m/s, LOS rate: 0.069843 deg/s, cmd heading: 267.958703 deg, new cmd heading: 268.030740 deg. 2025-10-27T04:10:39.270Z,1761538239.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678019 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:39.436Z,1761538239.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502812 2025-10-27T04:10:39.651Z,1761538239.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058619,0.989338,0.133324],[-0.998279,-0.057839,-0.009714],[-0.001899,-0.133664,0.991025]] 2025-10-27T04:10:39.670Z,1761538239.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:39.673Z,1761538239.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 130.818665 m, bearing: 279.609592 deg, approach rate: -0.568103 m/s, LOS rate: 0.065222 deg/s, cmd heading: 268.030748 deg, new cmd heading: 268.109731 deg. 2025-10-27T04:10:39.674Z,1761538239.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679398 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:39.688Z,1761538239.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755090 2025-10-27T04:10:39.773Z,1761538239.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:10:39.941Z,1761538239.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007612 2025-10-27T04:10:40.140Z,1761538240.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:40.142Z,1761538240.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 130.552368 m, bearing: 279.638561 deg, approach rate: -0.566822 m/s, LOS rate: 0.061788 deg/s, cmd heading: 268.109732 deg, new cmd heading: 268.196818 deg. 2025-10-27T04:10:40.144Z,1761538240.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680918 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:40.193Z,1761538240.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259381 2025-10-27T04:10:40.446Z,1761538240.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512726 2025-10-27T04:10:40.462Z,1761538240.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056937,0.989228,0.134859],[-0.998373,-0.056014,-0.010635],[-0.002966,-0.135245,0.990808]] 2025-10-27T04:10:40.478Z,1761538240.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:40.481Z,1761538240.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:40.484Z,1761538240.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 130.359222 m, bearing: 279.659494 deg, approach rate: -0.566549 m/s, LOS rate: 0.061493 deg/s, cmd heading: 268.196831 deg, new cmd heading: 268.259722 deg. 2025-10-27T04:10:40.485Z,1761538240.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682015 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:40.696Z,1761538240.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763368 2025-10-27T04:10:40.776Z,1761538240.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:10:40.911Z,1761538240.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057021,0.989258,0.134599],[-0.998369,-0.056101,-0.010621],[-0.002955,-0.134985,0.990843]] 2025-10-27T04:10:40.948Z,1761538240.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014920 2025-10-27T04:10:40.958Z,1761538240.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:40.961Z,1761538240.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 130.093216 m, bearing: 279.690225 deg, approach rate: -0.557731 m/s, LOS rate: 0.064564 deg/s, cmd heading: 268.259723 deg, new cmd heading: 268.352103 deg. 2025-10-27T04:10:40.961Z,1761538240.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683628 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:41.200Z,1761538241.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267034 2025-10-27T04:10:41.315Z,1761538241.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057441,0.988911,0.136948],[-0.998345,-0.056531,-0.010528],[-0.002669,-0.137326,0.990522]] 2025-10-27T04:10:41.334Z,1761538241.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:41.337Z,1761538241.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 129.883606 m, bearing: 279.714565 deg, approach rate: -0.557504 m/s, LOS rate: 0.064844 deg/s, cmd heading: 268.352095 deg, new cmd heading: 268.425235 deg. 2025-10-27T04:10:41.338Z,1761538241.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684904 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:41.452Z,1761538241.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518872 2025-10-27T04:10:41.705Z,1761538241.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771843 2025-10-27T04:10:41.848Z,1761538241.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:41.850Z,1761538241.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 129.592834 m, bearing: 279.748691 deg, approach rate: -0.565418 m/s, LOS rate: 0.066508 deg/s, cmd heading: 268.425232 deg, new cmd heading: 268.527839 deg. 2025-10-27T04:10:41.852Z,1761538241.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686695 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:41.956Z,1761538241.956 [DAT](INFO): DAT read: Rx Time:04:10:40.6625 2025-10-27T04:10:41.957Z,1761538241.957 [DAT](INFO): Rx dataTimestamp_ set to:1761538241.956512 2025-10-27T04:10:41.957Z,1761538241.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024286 2025-10-27T04:10:42.189Z,1761538242.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:42.192Z,1761538242.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 129.399643 m, bearing: 279.771453 deg, approach rate: -0.566126 m/s, LOS rate: 0.066800 deg/s, cmd heading: 268.527849 deg, new cmd heading: 268.596235 deg. 2025-10-27T04:10:42.193Z,1761538242.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687889 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:42.211Z,1761538242.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277551 2025-10-27T04:10:42.460Z,1761538242.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526763 2025-10-27T04:10:42.551Z,1761538242.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056150,0.987812,0.145173],[-0.998422,-0.055598,-0.007863],[0.000304,-0.145385,0.989375]] 2025-10-27T04:10:42.571Z,1761538242.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:42.573Z,1761538242.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.40 m. 2025-10-27T04:10:42.583Z,1761538242.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.397964 m, nav range: 129.182648 m, bearing: 279.796957 deg, approach rate: -0.565062 m/s, LOS rate: 0.066526 deg/s, cmd heading: 268.596233 deg, new cmd heading: 268.672874 deg. 2025-10-27T04:10:42.585Z,1761538242.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689226 target range: 134.397964 and range: 135.00 m. 2025-10-27T04:10:42.720Z,1761538242.720 [DAT](INFO): DAT read: 04:10:40.6625 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420,-0.02, 1.443,-0.322, 1.256, 1.224, PHS= 0.322,-1.501,-0.011, RAW= 140.1, 14.1, CAL= 139.4, 15.1, ROT= 10.6, -15.1 2025-10-27T04:10:42.722Z,1761538242.722 [DAT](INFO): got valid direction response: 04:10:40.6625 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420,-0.02, 1.443,-0.322, 1.256, 1.224, PHS= 0.322,-1.501,-0.011, RAW= 140.1, 14.1, CAL= 139.4, 15.1, ROT= 10.6, -15.1 2025-10-27T04:10:42.723Z,1761538242.723 [DAT](INFO): DAT read: Bearing 74.7, 7.7 (Local) 2025-10-27T04:10:42.723Z,1761538242.723 [DAT](INFO): Local bearing/azimuth received: Bearing 74.7, 7.7 (Local) 2025-10-27T04:10:42.725Z,1761538242.725 [DAT](INFO): DAT read: Range 11 to 50 : 132.9 m (Round-trip 177.3 ms) speed 0.8 m/s 2025-10-27T04:10:42.726Z,1761538242.726 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:42.727Z,1761538242.727 [DAT](INFO): direction in FSK: [0.948997,0.177600,0.260505] 2025-10-27T04:10:42.728Z,1761538242.728 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:42.732Z,1761538242.732 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:42.732Z,1761538242.732 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:42.732Z,1761538242.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:42.953Z,1761538242.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054881,0.987341,0.148816],[-0.998491,-0.054523,-0.006490],[0.001706,-0.148948,0.988844]] 2025-10-27T04:10:42.964Z,1761538242.964 [DAT](INFO): DAT read: user:75> 2025-10-27T04:10:42.965Z,1761538242.965 [DAT](INFO): DAT read: Tx time:04:10:42.0311 2025-10-27T04:10:42.965Z,1761538242.965 [DAT](INFO): Ping request sent. 2025-10-27T04:10:42.965Z,1761538242.965 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:42.965Z,1761538242.965 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:42.966Z,1761538242.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771 2025-10-27T04:10:43.053Z,1761538243.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.899994 m, deltaT: 4.031473 s, deltaX: -2.100006 m, approachRate: -0.520903 m/s, rangeRepo size: 4 2025-10-27T04:10:43.055Z,1761538243.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 132.305008 m, bearing: 279.590969 deg, lat: 36.779481 deg, lon: -121.859533 deg, deltaT: 4.031473 s, deltaX: -2.092957 m, approachRate: -0.519154 m/s, posRepo size: 4 2025-10-27T04:10:43.056Z,1761538243.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.31 m. 2025-10-27T04:10:43.058Z,1761538243.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.305008 m, nav range: 128.883957 m, bearing: 279.736998 deg, approach rate: 0.000000 m/s, LOS rate: 0.066526 deg/s, cmd heading: 268.672868 deg, new cmd heading: 268.768429 deg. 2025-10-27T04:10:43.059Z,1761538243.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690894 target range: 132.305008 and range: 132.90 m. 2025-10-27T04:10:43.216Z,1761538243.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250991 2025-10-27T04:10:43.360Z,1761538243.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053067,0.987225,0.150236],[-0.998586,-0.052937,-0.004864],[0.003151,-0.150281,0.988638]] 2025-10-27T04:10:43.384Z,1761538243.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.31 m. 2025-10-27T04:10:43.386Z,1761538243.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.305008 m, nav range: 128.701202 m, bearing: 279.759785 deg, approach rate: -0.550880 m/s, LOS rate: 0.068786 deg/s, cmd heading: 268.768436 deg, new cmd heading: 268.836894 deg. 2025-10-27T04:10:43.388Z,1761538243.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692089 target range: 132.305008 and range: 132.90 m. 2025-10-27T04:10:43.468Z,1761538243.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502821 2025-10-27T04:10:43.720Z,1761538243.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755290 2025-10-27T04:10:43.771Z,1761538243.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050833,0.987276,0.150670],[-0.998696,-0.050949,-0.003089],[0.004626,-0.150630,0.988579]] 2025-10-27T04:10:43.845Z,1761538243.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.31 m. 2025-10-27T04:10:43.848Z,1761538243.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.305008 m, nav range: 128.442474 m, bearing: 279.791884 deg, approach rate: -0.560449 m/s, LOS rate: 0.069672 deg/s, cmd heading: 268.836901 deg, new cmd heading: 268.933393 deg. 2025-10-27T04:10:43.849Z,1761538243.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693773 target range: 132.305008 and range: 132.90 m. 2025-10-27T04:10:43.972Z,1761538243.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006616 2025-10-27T04:10:44.166Z,1761538244.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048210,0.987591,0.149465],[-0.998819,-0.048581,-0.001169],[0.006107,-0.149344,0.988766]] 2025-10-27T04:10:44.224Z,1761538244.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258887 2025-10-27T04:10:44.228Z,1761538244.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.31 m. 2025-10-27T04:10:44.230Z,1761538244.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.305008 m, nav range: 128.230728 m, bearing: 279.816491 deg, approach rate: -0.554188 m/s, LOS rate: 0.064508 deg/s, cmd heading: 268.933398 deg, new cmd heading: 269.007341 deg. 2025-10-27T04:10:44.231Z,1761538244.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695064 target range: 132.305008 and range: 132.90 m. 2025-10-27T04:10:44.477Z,1761538244.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512035 2025-10-27T04:10:44.569Z,1761538244.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045207,0.987853,0.148668],[-0.998950,-0.045815,0.000666],[0.007469,-0.148481,0.988887]] 2025-10-27T04:10:44.620Z,1761538244.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:44.622Z,1761538244.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.31 m. 2025-10-27T04:10:44.633Z,1761538244.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.305008 m, nav range: 128.009995 m, bearing: 279.841916 deg, approach rate: -0.558832 m/s, LOS rate: 0.064480 deg/s, cmd heading: 269.007328 deg, new cmd heading: 269.083735 deg. 2025-10-27T04:10:44.634Z,1761538244.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696397 target range: 132.305008 and range: 132.90 m. 2025-10-27T04:10:44.728Z,1761538244.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762875 2025-10-27T04:10:44.976Z,1761538244.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042162,0.988207,0.147204],[-0.999071,-0.043014,0.002608],[0.008910,-0.146957,0.989103]] 2025-10-27T04:10:44.982Z,1761538244.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017297 2025-10-27T04:10:45.039Z,1761538245.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.31 m. 2025-10-27T04:10:45.042Z,1761538245.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.305008 m, nav range: 127.792046 m, bearing: 279.868320 deg, approach rate: -0.523023 m/s, LOS rate: 0.063471 deg/s, cmd heading: 269.083744 deg, new cmd heading: 269.163092 deg. 2025-10-27T04:10:45.044Z,1761538245.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697782 target range: 132.305008 and range: 132.90 m. 2025-10-27T04:10:45.232Z,1761538245.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266894 2025-10-27T04:10:45.382Z,1761538245.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039345,0.988554,0.145647],[-0.999171,-0.040443,0.004580],[0.010418,-0.145346,0.989326]] 2025-10-27T04:10:45.412Z,1761538245.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.31 m. 2025-10-27T04:10:45.415Z,1761538245.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.305008 m, nav range: 127.576019 m, bearing: 279.894292 deg, approach rate: -0.578815 m/s, LOS rate: 0.069707 deg/s, cmd heading: 269.163084 deg, new cmd heading: 269.241132 deg. 2025-10-27T04:10:45.416Z,1761538245.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699144 target range: 132.305008 and range: 132.90 m. 2025-10-27T04:10:45.484Z,1761538245.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519025 2025-10-27T04:10:45.736Z,1761538245.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770763 2025-10-27T04:10:45.789Z,1761538245.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033811,0.989001,0.143992],[-0.999338,-0.035391,0.008424],[0.013428,-0.143612,0.989543]] 2025-10-27T04:10:45.872Z,1761538245.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.31 m. 2025-10-27T04:10:45.874Z,1761538245.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.305008 m, nav range: 127.339798 m, bearing: 279.922168 deg, approach rate: -0.514146 m/s, LOS rate: 0.060786 deg/s, cmd heading: 269.241139 deg, new cmd heading: 269.324923 deg. 2025-10-27T04:10:45.886Z,1761538245.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700607 target range: 132.305008 and range: 132.90 m. 2025-10-27T04:10:45.989Z,1761538245.989 [DAT](INFO): DAT read: Rx Time:04:10:44.6096 2025-10-27T04:10:45.990Z,1761538245.990 [DAT](INFO): Rx dataTimestamp_ set to:1761538245.989323 2025-10-27T04:10:45.990Z,1761538245.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025052 2025-10-27T04:10:46.191Z,1761538246.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031180,0.989236,0.142969],[-0.999398,-0.033038,0.010638],[0.015247,-0.142552,0.989670]] 2025-10-27T04:10:46.235Z,1761538246.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.31 m. 2025-10-27T04:10:46.238Z,1761538246.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.305008 m, nav range: 127.122444 m, bearing: 279.947664 deg, approach rate: -0.598819 m/s, LOS rate: 0.070361 deg/s, cmd heading: 269.324932 deg, new cmd heading: 269.401549 deg. 2025-10-27T04:10:46.240Z,1761538246.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885 2025-10-27T04:10:46.239Z,1761538246.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701944 target range: 132.305008 and range: 132.90 m. 2025-10-27T04:10:46.497Z,1761538246.497 [DAT](INFO): DAT read: 04:10:44.6096 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.37, 0.060,-1.653,-0.094,-0.132, PHS= 0.295,-1.475,-0.006, RAW= 140.9, 14.3, CAL= 140.1, 15.4, ROT= 9.9, -15.4 2025-10-27T04:10:46.498Z,1761538246.498 [DAT](INFO): got valid direction response: 04:10:44.6096 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.37, 0.060,-1.653,-0.094,-0.132, PHS= 0.295,-1.475,-0.006, RAW= 140.9, 14.3, CAL= 140.1, 15.4, ROT= 9.9, -15.4 2025-10-27T04:10:46.500Z,1761538246.500 [DAT](INFO): DAT read: Bearing 76.0, 7.8 (Local) 2025-10-27T04:10:46.500Z,1761538246.500 [DAT](INFO): Local bearing/azimuth received: Bearing 76.0, 7.8 (Local) 2025-10-27T04:10:46.501Z,1761538246.501 [DAT](INFO): DAT read: Range 11 to 50 : 130.8 m (Round-trip 174.4 ms) speed 0.5 m/s 2025-10-27T04:10:46.502Z,1761538246.502 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:46.504Z,1761538246.504 [DAT](INFO): direction in FSK: [0.949739,0.165756,0.265556] 2025-10-27T04:10:46.504Z,1761538246.504 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:46.507Z,1761538246.507 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:46.507Z,1761538246.507 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:46.508Z,1761538246.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:46.619Z,1761538246.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029264,0.989503,0.141520],[-0.999423,-0.031407,0.012937],[0.017246,-0.141060,0.989851]] 2025-10-27T04:10:46.673Z,1761538246.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.800003 m, deltaT: 3.779530 s, deltaX: -2.099991 m, approachRate: -0.555622 m/s, rangeRepo size: 4 2025-10-27T04:10:46.680Z,1761538246.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.213837 m, bearing: 280.357488 deg, lat: 36.779481 deg, lon: -121.859533 deg, deltaT: 3.779530 s, deltaX: -2.091171 m, approachRate: -0.553289 m/s, posRepo size: 4 2025-10-27T04:10:46.680Z,1761538246.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:46.687Z,1761538246.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 126.891975 m, bearing: 279.974584 deg, approach rate: 0.000000 m/s, LOS rate: 0.070361 deg/s, cmd heading: 269.401540 deg, new cmd heading: 269.493980 deg. 2025-10-27T04:10:46.688Z,1761538246.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703557 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:46.744Z,1761538246.744 [DAT](INFO): DAT read: user:76> 2025-10-27T04:10:46.745Z,1761538246.745 [DAT](INFO): DAT read: Tx time:04:10:45.8311 2025-10-27T04:10:46.745Z,1761538246.745 [DAT](INFO): Ping request sent. 2025-10-27T04:10:46.745Z,1761538246.745 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:46.745Z,1761538246.745 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:46.746Z,1761538246.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T04:10:46.996Z,1761538246.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251200 2025-10-27T04:10:47.032Z,1761538247.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027660,0.989605,0.141128],[-0.999428,-0.030128,0.015380],[0.019472,-0.140622,0.989872]] 2025-10-27T04:10:47.086Z,1761538247.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:47.090Z,1761538247.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:47.096Z,1761538247.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 126.638977 m, bearing: 280.002746 deg, approach rate: -0.607108 m/s, LOS rate: 0.067714 deg/s, cmd heading: 269.493993 deg, new cmd heading: 269.578648 deg. 2025-10-27T04:10:47.099Z,1761538247.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705035 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:47.248Z,1761538247.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502622 2025-10-27T04:10:47.442Z,1761538247.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026557,0.989835,0.139721],[-0.999409,-0.029340,0.017902],[0.021819,-0.139163,0.990029]] 2025-10-27T04:10:47.461Z,1761538247.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:47.464Z,1761538247.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 126.415848 m, bearing: 280.027560 deg, approach rate: -0.600410 m/s, LOS rate: 0.066887 deg/s, cmd heading: 269.578660 deg, new cmd heading: 269.653232 deg. 2025-10-27T04:10:47.465Z,1761538247.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706336 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:47.501Z,1761538247.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755360 2025-10-27T04:10:47.752Z,1761538247.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006616 2025-10-27T04:10:47.894Z,1761538247.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026206,0.989973,0.138804],[-0.999367,-0.029285,0.020185],[0.024047,-0.138187,0.990114]] 2025-10-27T04:10:47.944Z,1761538247.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:47.947Z,1761538247.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 126.111076 m, bearing: 280.058992 deg, approach rate: -0.631069 m/s, LOS rate: 0.065242 deg/s, cmd heading: 269.653218 deg, new cmd heading: 269.747743 deg. 2025-10-27T04:10:47.948Z,1761538247.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707986 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:48.005Z,1761538248.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259913 2025-10-27T04:10:48.252Z,1761538248.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025674,0.990083,0.138119],[-0.999335,-0.028996,0.022088],[0.025873,-0.137460,0.990169]] 2025-10-27T04:10:48.256Z,1761538248.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510819 2025-10-27T04:10:48.272Z,1761538248.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:48.274Z,1761538248.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 125.904564 m, bearing: 280.080326 deg, approach rate: -0.629918 m/s, LOS rate: 0.065179 deg/s, cmd heading: 269.747748 deg, new cmd heading: 269.811853 deg. 2025-10-27T04:10:48.276Z,1761538248.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709105 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:48.509Z,1761538248.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763688 2025-10-27T04:10:48.690Z,1761538248.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:48.694Z,1761538248.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 125.641174 m, bearing: 280.107638 deg, approach rate: -0.630826 m/s, LOS rate: 0.065552 deg/s, cmd heading: 269.811843 deg, new cmd heading: 269.893953 deg. 2025-10-27T04:10:48.696Z,1761538248.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710538 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:48.761Z,1761538248.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015904 2025-10-27T04:10:49.012Z,1761538249.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266701 2025-10-27T04:10:49.065Z,1761538249.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025895,0.989505,0.142163],[-0.999221,-0.029857,0.025809],[0.029783,-0.141384,0.989507]] 2025-10-27T04:10:49.137Z,1761538249.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:49.143Z,1761538249.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:49.146Z,1761538249.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 125.357697 m, bearing: 280.135090 deg, approach rate: -0.630942 m/s, LOS rate: 0.061237 deg/s, cmd heading: 269.893942 deg, new cmd heading: 269.976481 deg. 2025-10-27T04:10:49.146Z,1761538249.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711978 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:49.264Z,1761538249.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518667 2025-10-27T04:10:49.466Z,1761538249.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026506,0.988821,0.146730],[-0.999147,-0.030854,0.027436],[0.031657,-0.145878,0.988796]] 2025-10-27T04:10:49.502Z,1761538249.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:49.505Z,1761538249.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 125.130371 m, bearing: 280.157268 deg, approach rate: -0.625426 m/s, LOS rate: 0.061130 deg/s, cmd heading: 269.976478 deg, new cmd heading: 270.043135 deg. 2025-10-27T04:10:49.506Z,1761538249.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713142 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:49.516Z,1761538249.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771075 2025-10-27T04:10:49.768Z,1761538249.768 [DAT](INFO): DAT read: Rx Time:04:10:48.4061 2025-10-27T04:10:49.768Z,1761538249.768 [DAT](INFO): Rx dataTimestamp_ set to:1761538249.768157 2025-10-27T04:10:49.769Z,1761538249.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023768 2025-10-27T04:10:49.925Z,1761538249.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027180,0.988159,0.151005],[-0.999078,-0.031873,0.028745],[0.033217,-0.150085,0.988115]] 2025-10-27T04:10:49.982Z,1761538249.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:49.989Z,1761538249.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 124.830185 m, bearing: 280.184426 deg, approach rate: -0.625433 m/s, LOS rate: 0.056719 deg/s, cmd heading: 270.043140 deg, new cmd heading: 270.124810 deg. 2025-10-27T04:10:49.990Z,1761538249.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714567 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:50.020Z,1761538250.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274894 2025-10-27T04:10:50.277Z,1761538250.277 [DAT](INFO): DAT read: 04:10:48.4061 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402,-0.20, 2.258, 0.453, 2.157, 2.012, PHS= 0.348,-1.514, 0.101, RAW= 143.0, 12.1, CAL= 142.5, 13.2, ROT= 7.5, -13.2 2025-10-27T04:10:50.279Z,1761538250.279 [DAT](INFO): got valid direction response: 04:10:48.4061 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402,-0.20, 2.258, 0.453, 2.157, 2.012, PHS= 0.348,-1.514, 0.101, RAW= 143.0, 12.1, CAL= 142.5, 13.2, ROT= 7.5, -13.2 2025-10-27T04:10:50.279Z,1761538250.279 [DAT](INFO): DAT read: Bearing 73.9, 6.8 (Local) 2025-10-27T04:10:50.280Z,1761538250.280 [DAT](INFO): Local bearing/azimuth received: Bearing 73.9, 6.8 (Local) 2025-10-27T04:10:50.280Z,1761538250.280 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:10:50.281Z,1761538250.281 [DAT](INFO): direction in FSK: [0.965250,0.127078,0.228351] 2025-10-27T04:10:50.284Z,1761538250.284 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:50.284Z,1761538250.284 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:50.284Z,1761538250.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:10:50.334Z,1761538250.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027502,0.987624,0.154412],[-0.999030,-0.032472,0.029757],[0.034403,-0.153444,0.987558]] 2025-10-27T04:10:50.369Z,1761538250.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:50.376Z,1761538250.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 124.579536 m, bearing: 280.207246 deg, approach rate: -0.648168 m/s, LOS rate: 0.059130 deg/s, cmd heading: 270.124802 deg, new cmd heading: 270.193400 deg. 2025-10-27T04:10:50.377Z,1761538250.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715765 target range: 130.213837 and range: 130.80 m. 2025-10-27T04:10:50.525Z,1761538250.525 [DAT](INFO): DAT read: Range 11 to 50 : 128.1 m (Round-trip 170.8 ms) speed 0.4 m/s 2025-10-27T04:10:50.526Z,1761538250.526 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T04:10:50.526Z,1761538250.526 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:50.526Z,1761538250.526 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:50.527Z,1761538250.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:50.753Z,1761538250.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.100006 m, deltaT: 4.032171 s, deltaX: -2.699997 m, approachRate: -0.669614 m/s, rangeRepo size: 4 2025-10-27T04:10:50.753Z,1761538250.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:50.756Z,1761538250.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 124.333580 m, bearing: 280.229730 deg, approach rate: -0.642031 m/s, LOS rate: 0.058806 deg/s, cmd heading: 270.193404 deg, new cmd heading: 270.260989 deg. 2025-10-27T04:10:50.757Z,1761538250.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716944 target range: 130.213837 and range: 128.10 m. 2025-10-27T04:10:50.776Z,1761538250.776 [DAT](INFO): DAT read: user:77> 2025-10-27T04:10:50.777Z,1761538250.777 [DAT](INFO): DAT read: Tx time:04:10:49.8311 2025-10-27T04:10:50.777Z,1761538250.777 [DAT](INFO): Ping request sent. 2025-10-27T04:10:50.777Z,1761538250.777 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:50.777Z,1761538250.777 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:50.778Z,1761538250.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-27T04:10:51.028Z,1761538251.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250947 2025-10-27T04:10:51.179Z,1761538251.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027767,0.987168,0.157252],[-0.998935,-0.033203,0.032050],[0.036860,-0.156194,0.987038]] 2025-10-27T04:10:51.222Z,1761538251.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:51.224Z,1761538251.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:51.227Z,1761538251.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 124.041664 m, bearing: 280.257293 deg, approach rate: -0.617873 m/s, LOS rate: 0.058478 deg/s, cmd heading: 270.260996 deg, new cmd heading: 270.343880 deg. 2025-10-27T04:10:51.228Z,1761538251.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718391 target range: 130.213837 and range: 128.10 m. 2025-10-27T04:10:51.280Z,1761538251.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503051 2025-10-27T04:10:51.532Z,1761538251.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755025 2025-10-27T04:10:51.605Z,1761538251.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027410,0.987240,0.156861],[-0.998927,-0.032911,0.032582],[0.037329,-0.155800,0.987083]] 2025-10-27T04:10:51.623Z,1761538251.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:51.626Z,1761538251.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 123.794830 m, bearing: 280.280660 deg, approach rate: -0.619734 m/s, LOS rate: 0.058785 deg/s, cmd heading: 270.343887 deg, new cmd heading: 270.414128 deg. 2025-10-27T04:10:51.626Z,1761538251.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719617 target range: 130.213837 and range: 128.10 m. 2025-10-27T04:10:51.789Z,1761538251.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011254 2025-10-27T04:10:52.036Z,1761538252.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258878 2025-10-27T04:10:52.075Z,1761538252.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026793,0.987400,0.155962],[-0.998930,-0.032331,0.033081],[0.037707,-0.154909,0.987209]] 2025-10-27T04:10:52.145Z,1761538252.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:52.148Z,1761538252.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 123.489670 m, bearing: 280.311025 deg, approach rate: -0.584429 m/s, LOS rate: 0.058297 deg/s, cmd heading: 270.414129 deg, new cmd heading: 270.505448 deg. 2025-10-27T04:10:52.149Z,1761538252.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721210 target range: 130.213837 and range: 128.10 m. 2025-10-27T04:10:52.288Z,1761538252.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510777 2025-10-27T04:10:52.470Z,1761538252.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026314,0.987466,0.155621],[-0.998937,-0.031870,0.033313],[0.037855,-0.154579,0.987255]] 2025-10-27T04:10:52.488Z,1761538252.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:52.490Z,1761538252.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 123.285309 m, bearing: 280.331398 deg, approach rate: -0.595732 m/s, LOS rate: 0.059489 deg/s, cmd heading: 270.505435 deg, new cmd heading: 270.566656 deg. 2025-10-27T04:10:52.492Z,1761538252.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722279 target range: 130.213837 and range: 128.10 m. 2025-10-27T04:10:52.541Z,1761538252.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764142 2025-10-27T04:10:52.792Z,1761538252.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014955 2025-10-27T04:10:52.881Z,1761538252.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024642,0.987754,0.154059],[-0.998989,-0.030126,0.033365],[0.037597,-0.153081,0.987498]] 2025-10-27T04:10:52.997Z,1761538252.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:53.004Z,1761538253.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 123.020958 m, bearing: 280.357641 deg, approach rate: -0.518853 m/s, LOS rate: 0.051619 deg/s, cmd heading: 270.566660 deg, new cmd heading: 270.645559 deg. 2025-10-27T04:10:53.005Z,1761538253.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723656 target range: 130.213837 and range: 128.10 m. 2025-10-27T04:10:53.044Z,1761538253.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266962 2025-10-27T04:10:53.297Z,1761538253.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519616 2025-10-27T04:10:53.350Z,1761538253.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022094,0.988440,0.149996],[-0.999070,-0.027386,0.033310],[0.037033,-0.149121,0.988125]] 2025-10-27T04:10:53.402Z,1761538253.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:53.405Z,1761538253.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:53.408Z,1761538253.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 122.762764 m, bearing: 280.383794 deg, approach rate: -0.633849 m/s, LOS rate: 0.064338 deg/s, cmd heading: 270.645563 deg, new cmd heading: 270.724186 deg. 2025-10-27T04:10:53.409Z,1761538253.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725029 target range: 130.213837 and range: 128.10 m. 2025-10-27T04:10:53.548Z,1761538253.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771055 2025-10-27T04:10:53.750Z,1761538253.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019750,0.989159,0.145513],[-0.999139,-0.024837,0.033223],[0.036477,-0.144731,0.988798]] 2025-10-27T04:10:53.774Z,1761538253.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:53.777Z,1761538253.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 122.558418 m, bearing: 280.404347 deg, approach rate: -0.553304 m/s, LOS rate: 0.055745 deg/s, cmd heading: 270.724192 deg, new cmd heading: 270.785954 deg. 2025-10-27T04:10:53.778Z,1761538253.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726107 target range: 130.213837 and range: 128.10 m. 2025-10-27T04:10:53.802Z,1761538253.802 [DAT](INFO): DAT read: Rx Time:04:10:52.4031 2025-10-27T04:10:53.802Z,1761538253.802 [DAT](INFO): Rx dataTimestamp_ set to:1761538253.802153 2025-10-27T04:10:53.811Z,1761538253.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034096 2025-10-27T04:10:54.052Z,1761538254.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275050 2025-10-27T04:10:54.154Z,1761538254.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017240,0.989774,0.141600],[-0.999216,-0.022105,0.032855],[0.035649,-0.140922,0.989379]] 2025-10-27T04:10:54.254Z,1761538254.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.21 m. 2025-10-27T04:10:54.268Z,1761538254.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.213837 m, nav range: 122.324844 m, bearing: 280.431143 deg, approach rate: -0.493832 m/s, LOS rate: 0.056761 deg/s, cmd heading: 270.785964 deg, new cmd heading: 270.866506 deg. 2025-10-27T04:10:54.269Z,1761538254.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727512 target range: 130.213837 and range: 128.10 m. 2025-10-27T04:10:54.309Z,1761538254.309 [DAT](INFO): DAT read: 04:10:52.4031 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 403, 0.33,-1.719, 2.694,-1.813,-2.022, PHS= 0.405,-1.522, 0.165, RAW= 143.4, 10.5, CAL= 143.0, 11.4, ROT= 7.0, -11.4 2025-10-27T04:10:54.311Z,1761538254.311 [DAT](INFO): got valid direction response: 04:10:52.4031 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 403, 0.33,-1.719, 2.694,-1.813,-2.022, PHS= 0.405,-1.522, 0.165, RAW= 143.4, 10.5, CAL= 143.0, 11.4, ROT= 7.0, -11.4 2025-10-27T04:10:54.312Z,1761538254.312 [DAT](INFO): DAT read: Bearing 73.3, 6.9 (Local) 2025-10-27T04:10:54.312Z,1761538254.312 [DAT](INFO): Local bearing/azimuth received: Bearing 73.3, 6.9 (Local) 2025-10-27T04:10:54.313Z,1761538254.313 [DAT](INFO): DAT read: Range 11 to 50 : 125.8 m (Round-trip 167.8 ms) speed 0.2 m/s 2025-10-27T04:10:54.314Z,1761538254.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:54.316Z,1761538254.316 [DAT](INFO): direction in FSK: [0.972964,0.119465,0.197657] 2025-10-27T04:10:54.316Z,1761538254.316 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:54.320Z,1761538254.320 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:54.320Z,1761538254.320 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:54.320Z,1761538254.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:54.556Z,1761538254.556 [DAT](INFO): DAT read: user:78> 2025-10-27T04:10:54.557Z,1761538254.557 [DAT](INFO): DAT read: Tx time:04:10:53.6311 2025-10-27T04:10:54.558Z,1761538254.558 [DAT](INFO): Ping request sent. 2025-10-27T04:10:54.558Z,1761538254.558 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:54.558Z,1761538254.558 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:54.559Z,1761538254.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001476 2025-10-27T04:10:54.639Z,1761538254.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010997,0.990618,0.136220],[-0.999386,-0.015421,0.031460],[0.033266,-0.135790,0.990179]] 2025-10-27T04:10:54.685Z,1761538254.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.800003 m, deltaT: 3.780024 s, deltaX: -2.300003 m, approachRate: -0.608463 m/s, rangeRepo size: 4 2025-10-27T04:10:54.687Z,1761538254.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.260460 m, bearing: 277.914475 deg, lat: 36.779478 deg, lon: -121.859533 deg, deltaT: 7.812195 s, deltaX: -4.953377 m, approachRate: -0.634057 m/s, posRepo size: 4 2025-10-27T04:10:54.688Z,1761538254.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m. 2025-10-27T04:10:54.696Z,1761538254.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.260460 m, nav range: 122.021286 m, bearing: 280.292470 deg, approach rate: 0.000000 m/s, LOS rate: 0.056761 deg/s, cmd heading: 270.866506 deg, new cmd heading: 270.940947 deg. 2025-10-27T04:10:54.698Z,1761538254.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728812 target range: 125.260460 and range: 125.80 m. 2025-10-27T04:10:54.808Z,1761538254.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250502 2025-10-27T04:10:55.030Z,1761538255.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007847,0.990989,0.133712],[-0.999463,-0.012028,0.030495],[0.031829,-0.133401,0.990551]] 2025-10-27T04:10:55.060Z,1761538255.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502252 2025-10-27T04:10:55.108Z,1761538255.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m. 2025-10-27T04:10:55.110Z,1761538255.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.260460 m, nav range: 121.810051 m, bearing: 280.317087 deg, approach rate: -0.499042 m/s, LOS rate: 0.058260 deg/s, cmd heading: 270.940955 deg, new cmd heading: 271.014936 deg. 2025-10-27T04:10:55.115Z,1761538255.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730103 target range: 125.260460 and range: 125.80 m. 2025-10-27T04:10:55.315Z,1761538255.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757001 2025-10-27T04:10:55.433Z,1761538255.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004976,0.991127,0.132826],[-0.999516,-0.009007,0.029762],[0.030695,-0.132614,0.990692]] 2025-10-27T04:10:55.468Z,1761538255.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:55.470Z,1761538255.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m. 2025-10-27T04:10:55.473Z,1761538255.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.260460 m, nav range: 121.620163 m, bearing: 280.339022 deg, approach rate: -0.523109 m/s, LOS rate: 0.060520 deg/s, cmd heading: 271.014939 deg, new cmd heading: 271.080846 deg. 2025-10-27T04:10:55.474Z,1761538255.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731253 target range: 125.260460 and range: 125.80 m. 2025-10-27T04:10:55.565Z,1761538255.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006863 2025-10-27T04:10:55.816Z,1761538255.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258168 2025-10-27T04:10:55.838Z,1761538255.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001932,0.991138,0.132822],[-0.999565,-0.005823,0.028908],[0.029425,-0.132708,0.990718]] 2025-10-27T04:10:55.857Z,1761538255.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m. 2025-10-27T04:10:55.859Z,1761538255.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.260460 m, nav range: 121.415138 m, bearing: 280.362470 deg, approach rate: -0.530940 m/s, LOS rate: 0.060826 deg/s, cmd heading: 271.080837 deg, new cmd heading: 271.151302 deg. 2025-10-27T04:10:55.860Z,1761538255.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732483 target range: 125.260460 and range: 125.80 m. 2025-10-27T04:10:56.069Z,1761538256.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511354 2025-10-27T04:10:56.241Z,1761538256.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001197,0.991099,0.133121],[-0.999606,-0.002549,0.027962],[0.028052,-0.133102,0.990705]] 2025-10-27T04:10:56.294Z,1761538256.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m. 2025-10-27T04:10:56.297Z,1761538256.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.260460 m, nav range: 121.196823 m, bearing: 280.388251 deg, approach rate: -0.499534 m/s, LOS rate: 0.059096 deg/s, cmd heading: 271.151297 deg, new cmd heading: 271.228779 deg. 2025-10-27T04:10:56.298Z,1761538256.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733835 target range: 125.260460 and range: 125.80 m. 2025-10-27T04:10:56.329Z,1761538256.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770795 2025-10-27T04:10:56.581Z,1761538256.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022509 2025-10-27T04:10:56.647Z,1761538256.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004573,0.990907,0.134469],[-0.999643,0.000989,0.026708],[0.026332,-0.134543,0.990558]] 2025-10-27T04:10:56.665Z,1761538256.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m. 2025-10-27T04:10:56.668Z,1761538256.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.260460 m, nav range: 121.010460 m, bearing: 280.410016 deg, approach rate: -0.501690 m/s, LOS rate: 0.058682 deg/s, cmd heading: 271.228779 deg, new cmd heading: 271.294176 deg. 2025-10-27T04:10:56.669Z,1761538256.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.734977 target range: 125.260460 and range: 125.80 m. 2025-10-27T04:10:56.832Z,1761538256.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274151 2025-10-27T04:10:57.086Z,1761538257.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528216 2025-10-27T04:10:57.112Z,1761538257.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007793,0.990938,0.134092],[-0.999664,0.004403,0.025561],[0.024739,-0.134246,0.990639]] 2025-10-27T04:10:57.163Z,1761538257.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m. 2025-10-27T04:10:57.166Z,1761538257.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.260460 m, nav range: 120.747818 m, bearing: 280.441946 deg, approach rate: -0.527394 m/s, LOS rate: 0.064255 deg/s, cmd heading: 271.294185 deg, new cmd heading: 271.390182 deg. 2025-10-27T04:10:57.183Z,1761538257.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736652 target range: 125.260460 and range: 125.80 m. 2025-10-27T04:10:57.336Z,1761538257.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778591 2025-10-27T04:10:57.566Z,1761538257.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:57.572Z,1761538257.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.26 m. 2025-10-27T04:10:57.578Z,1761538257.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.260460 m, nav range: 120.534691 m, bearing: 280.467960 deg, approach rate: -0.522305 m/s, LOS rate: 0.063866 deg/s, cmd heading: 271.390190 deg, new cmd heading: 271.468371 deg. 2025-10-27T04:10:57.580Z,1761538257.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738017 target range: 125.260460 and range: 125.80 m. 2025-10-27T04:10:57.589Z,1761538257.589 [DAT](INFO): DAT read: Rx Time:04:10:56.2005 2025-10-27T04:10:57.590Z,1761538257.590 [DAT](INFO): Rx dataTimestamp_ set to:1761538257.589607 2025-10-27T04:10:57.603Z,1761538257.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.045460 2025-10-27T04:10:57.841Z,1761538257.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282401 2025-10-27T04:10:58.090Z,1761538258.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012742,0.990972,0.133460],[-0.999673,0.009665,0.023682],[0.022179,-0.133719,0.990771]] 2025-10-27T04:10:58.121Z,1761538258.121 [DAT](INFO): DAT read: 04:10:56.2005 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409, 0.22,-2.496, 1.960,-2.545,-2.754, PHS= 0.360,-1.524, 0.165, RAW= 144.6, 11.1, CAL= 144.2, 12.1, ROT= 5.8, -12.1 2025-10-27T04:10:58.122Z,1761538258.122 [DAT](INFO): got valid direction response: 04:10:56.2005 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409, 0.22,-2.496, 1.960,-2.545,-2.754, PHS= 0.360,-1.524, 0.165, RAW= 144.6, 11.1, CAL= 144.2, 12.1, ROT= 5.8, -12.1 2025-10-27T04:10:58.123Z,1761538258.123 [DAT](INFO): DAT read: Bearing 75.7, 5.4 (Local) 2025-10-27T04:10:58.123Z,1761538258.123 [DAT](INFO): Local bearing/azimuth received: Bearing 75.7, 5.4 (Local) 2025-10-27T04:10:58.125Z,1761538258.125 [DAT](INFO): DAT read: Range 11 to 50 : 123.9 m (Round-trip 165.3 ms) speed 0.5 m/s 2025-10-27T04:10:58.125Z,1761538258.125 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:10:58.126Z,1761538258.126 [DAT](INFO): direction in FSK: [0.972778,0.098811,0.209619] 2025-10-27T04:10:58.126Z,1761538258.126 [DAT](INFO): publishing direction and range info 2025-10-27T04:10:58.182Z,1761538258.182 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:10:58.182Z,1761538258.182 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:10:58.182Z,1761538258.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:10:58.293Z,1761538258.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.900002 m, deltaT: 3.788614 s, deltaX: -1.900002 m, approachRate: -0.501503 m/s, rangeRepo size: 4 2025-10-27T04:10:58.297Z,1761538258.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.372200 m, bearing: 278.142487 deg, lat: 36.779464 deg, lon: -121.859535 deg, deltaT: 3.788614 s, deltaX: -1.888260 m, approachRate: -0.498404 m/s, posRepo size: 4 2025-10-27T04:10:58.297Z,1761538258.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:10:58.308Z,1761538258.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 120.020157 m, bearing: 279.779153 deg, approach rate: 0.000000 m/s, LOS rate: 0.063866 deg/s, cmd heading: 271.468382 deg, new cmd heading: 271.606532 deg. 2025-10-27T04:10:58.309Z,1761538258.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.740428 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:10:58.344Z,1761538258.344 [DAT](INFO): DAT read: user:79> 2025-10-27T04:10:58.345Z,1761538258.345 [DAT](INFO): DAT read: Tx time:04:10:57.5311 2025-10-27T04:10:58.345Z,1761538258.345 [DAT](INFO): Ping request sent. 2025-10-27T04:10:58.345Z,1761538258.345 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:10:58.345Z,1761538258.345 [DAT](INFO): publishing transmit ping time 2025-10-27T04:10:58.346Z,1761538258.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-27T04:10:58.598Z,1761538258.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252960 2025-10-27T04:10:58.645Z,1761538258.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016214,0.990686,0.135199],[-0.999694,0.013533,0.020724],[0.018701,-0.135494,0.990602]] 2025-10-27T04:10:58.664Z,1761538258.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:10:58.666Z,1761538258.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 119.794724 m, bearing: 279.801106 deg, approach rate: -0.607110 m/s, LOS rate: 0.059232 deg/s, cmd heading: 271.606543 deg, new cmd heading: 271.672526 deg. 2025-10-27T04:10:58.667Z,1761538258.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741580 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:10:58.848Z,1761538258.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502651 2025-10-27T04:10:59.078Z,1761538259.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016858,0.990418,0.137070],[-0.999707,0.014318,0.019494],[0.017345,-0.137359,0.990369]] 2025-10-27T04:10:59.100Z,1761538259.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754741 2025-10-27T04:10:59.141Z,1761538259.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:10:59.144Z,1761538259.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 119.500114 m, bearing: 279.824878 deg, approach rate: -0.616582 m/s, LOS rate: 0.049874 deg/s, cmd heading: 271.672523 deg, new cmd heading: 271.744014 deg. 2025-10-27T04:10:59.145Z,1761538259.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.742828 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:10:59.353Z,1761538259.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007502 2025-10-27T04:10:59.451Z,1761538259.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017166,0.990428,0.136957],[-0.999717,0.014742,0.018692],[0.016494,-0.137239,0.990401]] 2025-10-27T04:10:59.470Z,1761538259.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:10:59.473Z,1761538259.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 119.297798 m, bearing: 279.841240 deg, approach rate: -0.615887 m/s, LOS rate: 0.049894 deg/s, cmd heading: 271.744021 deg, new cmd heading: 271.793191 deg. 2025-10-27T04:10:59.474Z,1761538259.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743686 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:10:59.604Z,1761538259.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258688 2025-10-27T04:10:59.854Z,1761538259.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016428,0.990348,0.137626],[-0.999748,0.014168,0.017389],[0.015271,-0.137877,0.990332]] 2025-10-27T04:10:59.856Z,1761538259.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510739 2025-10-27T04:10:59.882Z,1761538259.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:10:59.884Z,1761538259.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:10:59.887Z,1761538259.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 119.042702 m, bearing: 279.862047 deg, approach rate: -0.615452 m/s, LOS rate: 0.050308 deg/s, cmd heading: 271.793199 deg, new cmd heading: 271.855755 deg. 2025-10-27T04:10:59.888Z,1761538259.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744778 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:11:00.108Z,1761538260.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762953 2025-10-27T04:11:00.258Z,1761538260.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015666,0.990160,0.139061],[-0.999777,0.013545,0.016185],[0.014142,-0.139284,0.990152]] 2025-10-27T04:11:00.311Z,1761538260.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:11:00.314Z,1761538260.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 118.784988 m, bearing: 279.881252 deg, approach rate: -0.604450 m/s, LOS rate: 0.045140 deg/s, cmd heading: 271.855763 deg, new cmd heading: 271.913501 deg. 2025-10-27T04:11:00.314Z,1761538260.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745786 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:11:00.361Z,1761538260.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015533 2025-10-27T04:11:00.612Z,1761538260.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266616 2025-10-27T04:11:00.668Z,1761538260.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014154,0.990080,0.139789],[-0.999810,0.012136,0.015280],[0.013432,-0.139979,0.990063]] 2025-10-27T04:11:00.686Z,1761538260.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:11:00.690Z,1761538260.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 118.539368 m, bearing: 279.899819 deg, approach rate: -0.653601 m/s, LOS rate: 0.049510 deg/s, cmd heading: 271.913492 deg, new cmd heading: 271.969309 deg. 2025-10-27T04:11:00.693Z,1761538260.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.746760 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:11:00.864Z,1761538260.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519013 2025-10-27T04:11:01.106Z,1761538261.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011917,0.990192,0.139205],[-0.999844,0.009984,0.014575],[0.013043,-0.139357,0.990156]] 2025-10-27T04:11:01.116Z,1761538261.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770742 2025-10-27T04:11:01.144Z,1761538261.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:11:01.146Z,1761538261.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 118.227890 m, bearing: 279.922340 deg, approach rate: -0.681371 m/s, LOS rate: 0.049396 deg/s, cmd heading: 271.969308 deg, new cmd heading: 272.037050 deg. 2025-10-27T04:11:01.148Z,1761538261.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.747942 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:11:01.368Z,1761538261.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022723 2025-10-27T04:11:01.511Z,1761538261.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:11:01.514Z,1761538261.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 117.983009 m, bearing: 279.940130 deg, approach rate: -0.666792 m/s, LOS rate: 0.048542 deg/s, cmd heading: 272.037036 deg, new cmd heading: 272.090518 deg. 2025-10-27T04:11:01.515Z,1761538261.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.748876 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:11:01.620Z,1761538261.620 [DAT](INFO): DAT read: Rx Time:04:11:00.0971 2025-10-27T04:11:01.621Z,1761538261.621 [DAT](INFO): Rx dataTimestamp_ set to:1761538261.620272 2025-10-27T04:11:01.621Z,1761538261.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275854 2025-10-27T04:11:01.872Z,1761538261.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526614 2025-10-27T04:11:01.974Z,1761538261.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:01.977Z,1761538261.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.37 m. 2025-10-27T04:11:01.984Z,1761538261.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.372200 m, nav range: 117.665665 m, bearing: 279.963297 deg, approach rate: -0.681309 m/s, LOS rate: 0.049870 deg/s, cmd heading: 272.090530 deg, new cmd heading: 272.160217 deg. 2025-10-27T04:11:01.984Z,1761538261.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.750092 target range: 123.372200 and range: 123.90 m. 2025-10-27T04:11:02.132Z,1761538262.132 [DAT](INFO): DAT read: 04:11:00.0971 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.02, 1.472,-0.304, 1.452, 1.245, PHS= 0.329,-1.504, 0.163, RAW= 145.3, 11.5, CAL= 144.9, 12.6, ROT= 5.1, -12.6 2025-10-27T04:11:02.133Z,1761538262.133 [DAT](INFO): got valid direction response: 04:11:00.0971 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.02, 1.472,-0.304, 1.452, 1.245, PHS= 0.329,-1.504, 0.163, RAW= 145.3, 11.5, CAL= 144.9, 12.6, ROT= 5.1, -12.6 2025-10-27T04:11:02.134Z,1761538262.134 [DAT](INFO): DAT read: Bearing 76.5, 3.8 (Local) 2025-10-27T04:11:02.134Z,1761538262.134 [DAT](INFO): Local bearing/azimuth received: Bearing 76.5, 3.8 (Local) 2025-10-27T04:11:02.136Z,1761538262.136 [DAT](INFO): DAT read: Range 11 to 50 : 121.4 m (Round-trip 161.9 ms) speed 0.6 m/s 2025-10-27T04:11:02.137Z,1761538262.137 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:02.138Z,1761538262.138 [DAT](INFO): direction in FSK: [0.972053,0.086753,0.218143] 2025-10-27T04:11:02.138Z,1761538262.138 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:02.144Z,1761538262.144 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:02.144Z,1761538262.144 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:02.144Z,1761538262.144 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:02.288Z,1761538262.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005411,0.989235,0.146235],[-0.999929,0.003802,0.011279],[0.010602,-0.146286,0.989186]] 2025-10-27T04:11:02.349Z,1761538262.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.400002 m, deltaT: 4.031534 s, deltaX: -2.500000 m, approachRate: -0.620111 m/s, rangeRepo size: 4 2025-10-27T04:11:02.355Z,1761538262.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.878838 m, bearing: 277.231513 deg, lat: 36.779435 deg, lon: -121.859546 deg, deltaT: 4.031534 s, deltaX: -2.493362 m, approachRate: -0.618465 m/s, posRepo size: 4 2025-10-27T04:11:02.356Z,1761538262.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T04:11:02.359Z,1761538262.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.878838 m, nav range: 117.848534 m, bearing: 278.309529 deg, approach rate: 0.000000 m/s, LOS rate: 0.049870 deg/s, cmd heading: 272.160226 deg, new cmd heading: 272.215840 deg. 2025-10-27T04:11:02.364Z,1761538262.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.751063 target range: 120.878838 and range: 121.40 m. 2025-10-27T04:11:02.376Z,1761538262.376 [DAT](INFO): DAT read: user:80> 2025-10-27T04:11:02.377Z,1761538262.377 [DAT](INFO): DAT read: Tx time:04:11:01.4811 2025-10-27T04:11:02.377Z,1761538262.377 [DAT](INFO): Ping request sent. 2025-10-27T04:11:02.377Z,1761538262.377 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:02.377Z,1761538262.377 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:02.378Z,1761538262.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-27T04:11:02.628Z,1761538262.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251405 2025-10-27T04:11:02.690Z,1761538262.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003938,0.989112,0.147109],[-0.999948,0.002509,0.009895],[0.009418,-0.147140,0.989071]] 2025-10-27T04:11:02.734Z,1761538262.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T04:11:02.736Z,1761538262.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.878838 m, nav range: 117.569511 m, bearing: 278.327848 deg, approach rate: -0.724261 m/s, LOS rate: 0.047664 deg/s, cmd heading: 272.215851 deg, new cmd heading: 272.270939 deg. 2025-10-27T04:11:02.737Z,1761538262.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752024 target range: 120.878838 and range: 121.40 m. 2025-10-27T04:11:02.880Z,1761538262.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502839 2025-10-27T04:11:03.132Z,1761538263.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755188 2025-10-27T04:11:03.140Z,1761538263.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002955,0.989153,0.146858],[-0.999960,0.001687,0.008760],[0.008417,-0.146878,0.989119]] 2025-10-27T04:11:03.193Z,1761538263.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T04:11:03.200Z,1761538263.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.878838 m, nav range: 117.271889 m, bearing: 278.347946 deg, approach rate: -0.648250 m/s, LOS rate: 0.043886 deg/s, cmd heading: 272.270929 deg, new cmd heading: 272.331375 deg. 2025-10-27T04:11:03.201Z,1761538263.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.753079 target range: 120.878838 and range: 121.40 m. 2025-10-27T04:11:03.384Z,1761538263.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006857 2025-10-27T04:11:03.522Z,1761538263.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003564,0.989242,0.146244],[-0.999965,0.002424,0.007973],[0.007533,-0.146267,0.989216]] 2025-10-27T04:11:03.540Z,1761538263.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T04:11:03.543Z,1761538263.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.878838 m, nav range: 117.030373 m, bearing: 278.364260 deg, approach rate: -0.695260 m/s, LOS rate: 0.047062 deg/s, cmd heading: 272.331363 deg, new cmd heading: 272.380407 deg. 2025-10-27T04:11:03.544Z,1761538263.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.753935 target range: 120.878838 and range: 121.40 m. 2025-10-27T04:11:03.641Z,1761538263.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263624 2025-10-27T04:11:03.888Z,1761538263.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510823 2025-10-27T04:11:03.924Z,1761538263.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004656,0.989601,0.143763],[-0.999968,0.003677,0.007079],[0.006476,-0.143791,0.989587]] 2025-10-27T04:11:03.942Z,1761538263.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T04:11:03.945Z,1761538263.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.878838 m, nav range: 116.763405 m, bearing: 278.382239 deg, approach rate: -0.664575 m/s, LOS rate: 0.044858 deg/s, cmd heading: 272.380404 deg, new cmd heading: 272.434463 deg. 2025-10-27T04:11:03.946Z,1761538263.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754879 target range: 120.878838 and range: 121.40 m. 2025-10-27T04:11:04.140Z,1761538264.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762822 2025-10-27T04:11:04.325Z,1761538264.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006779,0.989942,0.141309],[-0.999962,0.005939,0.006364],[0.005461,-0.141347,0.989945]] 2025-10-27T04:11:04.368Z,1761538264.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:04.370Z,1761538264.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T04:11:04.373Z,1761538264.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.878838 m, nav range: 116.497513 m, bearing: 278.402372 deg, approach rate: -0.621644 m/s, LOS rate: 0.047177 deg/s, cmd heading: 272.434471 deg, new cmd heading: 272.495008 deg. 2025-10-27T04:11:04.374Z,1761538264.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.755935 target range: 120.878838 and range: 121.40 m. 2025-10-27T04:11:04.392Z,1761538264.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015225 2025-10-27T04:11:04.645Z,1761538264.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267966 2025-10-27T04:11:04.736Z,1761538264.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008786,0.990193,0.139427],[-0.999949,0.008018,0.006069],[0.004891,-0.139474,0.990214]] 2025-10-27T04:11:04.758Z,1761538264.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T04:11:04.761Z,1761538264.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.878838 m, nav range: 116.255219 m, bearing: 278.420564 deg, approach rate: -0.623771 m/s, LOS rate: 0.046933 deg/s, cmd heading: 272.495014 deg, new cmd heading: 272.549705 deg. 2025-10-27T04:11:04.762Z,1761538264.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.756890 target range: 120.878838 and range: 121.40 m. 2025-10-27T04:11:04.896Z,1761538264.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518870 2025-10-27T04:11:05.150Z,1761538265.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772699 2025-10-27T04:11:05.171Z,1761538265.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011203,0.990208,0.139153],[-0.999928,0.010511,0.005705],[0.004187,-0.139207,0.990254]] 2025-10-27T04:11:05.207Z,1761538265.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T04:11:05.210Z,1761538265.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.878838 m, nav range: 116.002861 m, bearing: 278.439438 deg, approach rate: -0.561869 m/s, LOS rate: 0.042113 deg/s, cmd heading: 272.549710 deg, new cmd heading: 272.606454 deg. 2025-10-27T04:11:05.227Z,1761538265.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.757880 target range: 120.878838 and range: 121.40 m. 2025-10-27T04:11:05.404Z,1761538265.404 [DAT](INFO): DAT read: Rx Time:04:11:04.0438 2025-10-27T04:11:05.404Z,1761538265.404 [DAT](INFO): Rx dataTimestamp_ set to:1761538265.403789 2025-10-27T04:11:05.405Z,1761538265.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027570 2025-10-27T04:11:05.538Z,1761538265.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014552,0.990283,0.138301],[-0.999888,0.013913,0.005588],[0.003610,-0.138367,0.990375]] 2025-10-27T04:11:05.574Z,1761538265.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T04:11:05.580Z,1761538265.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.878838 m, nav range: 115.800850 m, bearing: 278.454268 deg, approach rate: -0.550852 m/s, LOS rate: 0.040509 deg/s, cmd heading: 272.606456 deg, new cmd heading: 272.651023 deg. 2025-10-27T04:11:05.582Z,1761538265.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.758658 target range: 120.878838 and range: 121.40 m. 2025-10-27T04:11:05.652Z,1761538265.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274978 2025-10-27T04:11:05.913Z,1761538265.913 [DAT](INFO): DAT read: 04:11:04.0438 LVL= 29888, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.12, 0.666,-1.162, 0.668, 0.436, PHS= 0.332,-1.553, 0.188, RAW= 146.1, 11.4, CAL= 145.7, 12.4, ROT= 4.3, -12.4 2025-10-27T04:11:05.914Z,1761538265.914 [DAT](INFO): got valid direction response: 04:11:04.0438 LVL= 29888, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.12, 0.666,-1.162, 0.668, 0.436, PHS= 0.332,-1.553, 0.188, RAW= 146.1, 11.4, CAL= 145.7, 12.4, ROT= 4.3, -12.4 2025-10-27T04:11:05.918Z,1761538265.918 [DAT](INFO): DAT read: Bearing 77.5, 2.2 (Local) 2025-10-27T04:11:05.919Z,1761538265.919 [DAT](INFO): Local bearing/azimuth received: Bearing 77.5, 2.2 (Local) 2025-10-27T04:11:05.920Z,1761538265.920 [DAT](INFO): DAT read: Range 11 to 50 : 118.8 m (Round-trip 158.5 ms) speed 0.9 m/s 2025-10-27T04:11:05.921Z,1761538265.921 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:05.922Z,1761538265.922 [DAT](INFO): direction in FSK: [0.973923,0.073230,0.214735] 2025-10-27T04:11:05.922Z,1761538265.922 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:05.942Z,1761538265.942 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:05.942Z,1761538265.942 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:05.942Z,1761538265.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:05.968Z,1761538265.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017828,0.990419,0.136940],[-0.999836,0.017225,0.005586],[0.003173,-0.137017,0.990564]] 2025-10-27T04:11:06.021Z,1761538266.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 3.781478 s, deltaX: -2.599998 m, approachRate: -0.687561 m/s, rangeRepo size: 4 2025-10-27T04:11:06.027Z,1761538266.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.274742 m, bearing: 277.002080 deg, lat: 36.779434 deg, lon: -121.859547 deg, deltaT: 3.781478 s, deltaX: -2.604095 m, approachRate: -0.688645 m/s, posRepo size: 4 2025-10-27T04:11:06.035Z,1761538266.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:06.038Z,1761538266.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 115.623581 m, bearing: 278.419904 deg, approach rate: 0.000000 m/s, LOS rate: 0.040509 deg/s, cmd heading: 272.651016 deg, new cmd heading: 272.705309 deg. 2025-10-27T04:11:06.043Z,1761538266.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759605 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:06.159Z,1761538266.159 [DAT](INFO): DAT read: user:81> 2025-10-27T04:11:06.161Z,1761538266.161 [DAT](INFO): DAT read: Tx time:04:11:05.2311 2025-10-27T04:11:06.162Z,1761538266.162 [DAT](INFO): Ping request sent. 2025-10-27T04:11:06.162Z,1761538266.162 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:06.162Z,1761538266.162 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:06.164Z,1761538266.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000999 2025-10-27T04:11:06.346Z,1761538266.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021378,0.990654,0.134712],[-0.999768,0.020848,0.005344],[0.002486,-0.134795,0.990870]] 2025-10-27T04:11:06.384Z,1761538266.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:06.386Z,1761538266.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:06.389Z,1761538266.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 115.409897 m, bearing: 278.438830 deg, approach rate: -0.585077 m/s, LOS rate: 0.051916 deg/s, cmd heading: 272.705302 deg, new cmd heading: 272.762185 deg. 2025-10-27T04:11:06.390Z,1761538266.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760598 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:06.408Z,1761538266.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246232 2025-10-27T04:11:06.660Z,1761538266.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498121 2025-10-27T04:11:06.749Z,1761538266.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024842,0.991013,0.131441],[-0.999690,0.024384,0.005096],[0.001845,-0.131526,0.991311]] 2025-10-27T04:11:06.771Z,1761538266.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:06.774Z,1761538266.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 115.203232 m, bearing: 278.456850 deg, approach rate: -0.537182 m/s, LOS rate: 0.046925 deg/s, cmd heading: 272.762184 deg, new cmd heading: 272.816343 deg. 2025-10-27T04:11:06.774Z,1761538266.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761543 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:06.912Z,1761538266.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750357 2025-10-27T04:11:07.167Z,1761538267.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004490 2025-10-27T04:11:07.252Z,1761538267.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:07.254Z,1761538267.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 114.946419 m, bearing: 278.480049 deg, approach rate: -0.534607 m/s, LOS rate: 0.048401 deg/s, cmd heading: 272.816334 deg, new cmd heading: 272.886085 deg. 2025-10-27T04:11:07.256Z,1761538267.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762761 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:07.416Z,1761538267.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254114 2025-10-27T04:11:07.577Z,1761538267.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030967,0.990805,0.131703],[-0.999520,0.030690,0.004137],[0.000057,-0.131768,0.991281]] 2025-10-27T04:11:07.609Z,1761538267.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:07.612Z,1761538267.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 114.754219 m, bearing: 278.496874 deg, approach rate: -0.536379 m/s, LOS rate: 0.047031 deg/s, cmd heading: 272.886083 deg, new cmd heading: 272.936641 deg. 2025-10-27T04:11:07.613Z,1761538267.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.763643 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:07.668Z,1761538267.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506336 2025-10-27T04:11:07.920Z,1761538267.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758156 2025-10-27T04:11:07.988Z,1761538267.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033432,0.990653,0.132249],[-0.999441,0.033256,0.003537],[-0.000894,-0.132293,0.991210]] 2025-10-27T04:11:08.022Z,1761538268.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:08.029Z,1761538268.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 114.541634 m, bearing: 278.515279 deg, approach rate: -0.514921 m/s, LOS rate: 0.044664 deg/s, cmd heading: 272.936654 deg, new cmd heading: 272.991972 deg. 2025-10-27T04:11:08.030Z,1761538268.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.764609 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:08.177Z,1761538268.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014330 2025-10-27T04:11:08.386Z,1761538268.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035754,0.990069,0.135962],[-0.999360,0.035596,0.003590],[-0.001286,-0.136004,0.990707]] 2025-10-27T04:11:08.424Z,1761538268.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262476 2025-10-27T04:11:08.430Z,1761538268.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:08.432Z,1761538268.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:08.435Z,1761538268.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 114.321198 m, bearing: 278.533783 deg, approach rate: -0.537820 m/s, LOS rate: 0.045235 deg/s, cmd heading: 272.991979 deg, new cmd heading: 273.047600 deg. 2025-10-27T04:11:08.436Z,1761538268.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.765580 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:08.676Z,1761538268.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514159 2025-10-27T04:11:08.818Z,1761538268.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:08.821Z,1761538268.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 114.118996 m, bearing: 278.550820 deg, approach rate: -0.523895 m/s, LOS rate: 0.044220 deg/s, cmd heading: 273.047604 deg, new cmd heading: 273.098805 deg. 2025-10-27T04:11:08.822Z,1761538268.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.766473 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:08.928Z,1761538268.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766189 2025-10-27T04:11:09.183Z,1761538269.183 [DAT](INFO): DAT read: Rx Time:04:11:07.7911 2025-10-27T04:11:09.185Z,1761538269.185 [DAT](INFO): Rx dataTimestamp_ set to:1761538269.183889 2025-10-27T04:11:09.187Z,1761538269.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024453 2025-10-27T04:11:09.242Z,1761538269.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039782,0.989024,0.142297],[-0.999207,0.039646,0.003792],[-0.001891,-0.142335,0.989817]] 2025-10-27T04:11:09.291Z,1761538269.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:09.293Z,1761538269.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 113.855873 m, bearing: 278.569933 deg, approach rate: -0.556822 m/s, LOS rate: 0.040539 deg/s, cmd heading: 273.098803 deg, new cmd heading: 273.156272 deg. 2025-10-27T04:11:09.294Z,1761538269.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.767476 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:09.432Z,1761538269.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270222 2025-10-27T04:11:09.653Z,1761538269.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041443,0.988819,0.143244],[-0.999138,0.041367,0.003514],[-0.002451,-0.143267,0.989681]] 2025-10-27T04:11:09.672Z,1761538269.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.27 m. 2025-10-27T04:11:09.674Z,1761538269.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.274742 m, nav range: 113.643547 m, bearing: 278.585239 deg, approach rate: -0.557251 m/s, LOS rate: 0.040247 deg/s, cmd heading: 273.156258 deg, new cmd heading: 273.202264 deg. 2025-10-27T04:11:09.675Z,1761538269.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.768279 target range: 118.274742 and range: 118.80 m. 2025-10-27T04:11:09.690Z,1761538269.690 [DAT](INFO): DAT read: 04:11:07.7911 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.01,-2.214, 2.319,-2.153,-2.342, PHS= 0.230,-1.576, 0.145, RAW= 147.6, 13.5, CAL= 147.5, 14.9, ROT= 2.5, -14.9 2025-10-27T04:11:09.693Z,1761538269.693 [DAT](INFO): got valid direction response: 04:11:07.7911 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.01,-2.214, 2.319,-2.153,-2.342, PHS= 0.230,-1.576, 0.145, RAW= 147.6, 13.5, CAL= 147.5, 14.9, ROT= 2.5, -14.9 2025-10-27T04:11:09.694Z,1761538269.694 [DAT](INFO): DAT read: Bearing 81.3, 0.1 (Local) 2025-10-27T04:11:09.694Z,1761538269.694 [DAT](INFO): Local bearing/azimuth received: Bearing 81.3, 0.1 (Local) 2025-10-27T04:11:09.709Z,1761538269.709 [DAT](INFO): DAT read: Range 11 to 50 : 116.8 m (Round-trip 155.8 ms) speed 0.4 m/s 2025-10-27T04:11:09.710Z,1761538269.710 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:09.715Z,1761538269.715 [DAT](INFO): direction in FSK: [0.965456,0.042153,0.257133] 2025-10-27T04:11:09.716Z,1761538269.716 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:09.728Z,1761538269.728 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:09.728Z,1761538269.728 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:09.729Z,1761538269.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:09.936Z,1761538269.936 [DAT](INFO): DAT read: user:82> 2025-10-27T04:11:09.937Z,1761538269.937 [DAT](INFO): DAT read: Tx time:04:11:09.0311 2025-10-27T04:11:09.938Z,1761538269.938 [DAT](INFO): Ping request sent. 2025-10-27T04:11:09.938Z,1761538269.938 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:09.938Z,1761538269.938 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:09.939Z,1761538269.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-27T04:11:10.020Z,1761538270.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042387,0.988855,0.142717],[-0.999097,0.042346,0.003332],[-0.002748,-0.142729,0.989758]] 2025-10-27T04:11:10.089Z,1761538270.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.800003 m, deltaT: 3.778256 s, deltaX: -2.000000 m, approachRate: -0.529345 m/s, rangeRepo size: 4 2025-10-27T04:11:10.090Z,1761538270.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.282204 m, bearing: 277.069911 deg, lat: 36.779415 deg, lon: -121.859547 deg, deltaT: 3.778256 s, deltaX: -1.992538 m, approachRate: -0.527370 m/s, posRepo size: 4 2025-10-27T04:11:10.093Z,1761538270.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.28 m. 2025-10-27T04:11:10.104Z,1761538270.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.282204 m, nav range: 113.140289 m, bearing: 277.563292 deg, approach rate: 0.000000 m/s, LOS rate: 0.040247 deg/s, cmd heading: 273.202267 deg, new cmd heading: 273.252536 deg. 2025-10-27T04:11:10.105Z,1761538270.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.769156 target range: 116.282204 and range: 116.80 m. 2025-10-27T04:11:10.191Z,1761538270.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252508 2025-10-27T04:11:10.441Z,1761538270.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502471 2025-10-27T04:11:10.523Z,1761538270.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042698,0.988822,0.142860],[-0.999084,0.042654,0.003366],[-0.002765,-0.142873,0.989737]] 2025-10-27T04:11:10.588Z,1761538270.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:10.590Z,1761538270.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.28 m. 2025-10-27T04:11:10.597Z,1761538270.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.282204 m, nav range: 112.837730 m, bearing: 277.578220 deg, approach rate: -0.602660 m/s, LOS rate: 0.029813 deg/s, cmd heading: 273.252537 deg, new cmd heading: 273.297439 deg. 2025-10-27T04:11:10.598Z,1761538270.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.769940 target range: 116.282204 and range: 116.80 m. 2025-10-27T04:11:10.693Z,1761538270.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754678 2025-10-27T04:11:10.908Z,1761538270.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:11:10.944Z,1761538270.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006224 2025-10-27T04:11:10.958Z,1761538270.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043104,0.988788,0.142967],[-0.999066,0.043076,0.003293],[-0.002902,-0.142976,0.989722]] 2025-10-27T04:11:10.977Z,1761538270.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.28 m. 2025-10-27T04:11:10.980Z,1761538270.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.282204 m, nav range: 112.606781 m, bearing: 277.589620 deg, approach rate: -0.596560 m/s, LOS rate: 0.029507 deg/s, cmd heading: 273.297452 deg, new cmd heading: 273.331722 deg. 2025-10-27T04:11:10.981Z,1761538270.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.770538 target range: 116.282204 and range: 116.80 m. 2025-10-27T04:11:11.199Z,1761538271.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260216 2025-10-27T04:11:11.357Z,1761538271.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043607,0.988740,0.143151],[-0.999044,0.043595,0.003228],[-0.003049,-0.143155,0.989696]] 2025-10-27T04:11:11.414Z,1761538271.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.28 m. 2025-10-27T04:11:11.416Z,1761538271.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.282204 m, nav range: 112.345749 m, bearing: 277.603479 deg, approach rate: -0.598029 m/s, LOS rate: 0.031827 deg/s, cmd heading: 273.331712 deg, new cmd heading: 273.373389 deg. 2025-10-27T04:11:11.417Z,1761538271.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.771266 target range: 116.282204 and range: 116.80 m. 2025-10-27T04:11:11.448Z,1761538271.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510098 2025-10-27T04:11:11.701Z,1761538271.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763374 2025-10-27T04:11:11.770Z,1761538271.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043523,0.988600,0.144137],[-0.999047,0.043545,0.003008],[-0.003303,-0.144130,0.989553]] 2025-10-27T04:11:11.788Z,1761538271.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.28 m. 2025-10-27T04:11:11.791Z,1761538271.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.282204 m, nav range: 112.116066 m, bearing: 277.615740 deg, approach rate: -0.612980 m/s, LOS rate: 0.032787 deg/s, cmd heading: 273.373376 deg, new cmd heading: 273.410232 deg. 2025-10-27T04:11:11.792Z,1761538271.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.771909 target range: 116.282204 and range: 116.80 m. 2025-10-27T04:11:11.911Z,1761538271.911 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:11:11.952Z,1761538271.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014144 2025-10-27T04:11:12.174Z,1761538272.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043179,0.988400,0.145604],[-0.999062,0.043215,0.002918],[-0.003408,-0.145593,0.989339]] 2025-10-27T04:11:12.208Z,1761538272.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269721 2025-10-27T04:11:12.265Z,1761538272.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.28 m. 2025-10-27T04:11:12.276Z,1761538272.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.282204 m, nav range: 111.869453 m, bearing: 277.629006 deg, approach rate: -0.517054 m/s, LOS rate: 0.027875 deg/s, cmd heading: 273.410232 deg, new cmd heading: 273.450118 deg. 2025-10-27T04:11:12.277Z,1761538272.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.772605 target range: 116.282204 and range: 116.80 m. 2025-10-27T04:11:12.456Z,1761538272.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518077 2025-10-27T04:11:12.698Z,1761538272.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:12.702Z,1761538272.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.28 m. 2025-10-27T04:11:12.706Z,1761538272.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.282204 m, nav range: 111.573418 m, bearing: 277.644349 deg, approach rate: -0.678990 m/s, LOS rate: 0.035285 deg/s, cmd heading: 273.450120 deg, new cmd heading: 273.496273 deg. 2025-10-27T04:11:12.709Z,1761538272.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770924 2025-10-27T04:11:12.710Z,1761538272.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773410 target range: 116.282204 and range: 116.80 m. 2025-10-27T04:11:12.960Z,1761538272.960 [DAT](INFO): DAT read: Rx Time:04:11:11.5881 2025-10-27T04:11:12.960Z,1761538272.960 [DAT](INFO): Rx dataTimestamp_ set to:1761538272.960074 2025-10-27T04:11:12.961Z,1761538272.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023104 2025-10-27T04:11:13.045Z,1761538273.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044249,0.988688,0.143314],[-0.999010,0.044443,0.001849],[-0.004541,-0.143254,0.989676]] 2025-10-27T04:11:13.098Z,1761538273.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.28 m. 2025-10-27T04:11:13.109Z,1761538273.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.282204 m, nav range: 111.334412 m, bearing: 277.656666 deg, approach rate: -0.601985 m/s, LOS rate: 0.031090 deg/s, cmd heading: 273.496265 deg, new cmd heading: 273.533296 deg. 2025-10-27T04:11:13.110Z,1761538273.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.774056 target range: 116.282204 and range: 116.80 m. 2025-10-27T04:11:13.212Z,1761538273.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274554 2025-10-27T04:11:13.469Z,1761538273.469 [DAT](INFO): DAT read: 04:11:11.5881 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.24,-1.274,-3.081,-1.204,-1.477, PHS= 0.305,-1.560, 0.229, RAW= 147.9, 11.2, CAL= 147.7, 12.3, ROT= 2.3, -12.3 2025-10-27T04:11:13.470Z,1761538273.470 [DAT](INFO): got valid direction response: 04:11:11.5881 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.24,-1.274,-3.081,-1.204,-1.477, PHS= 0.305,-1.560, 0.229, RAW= 147.9, 11.2, CAL= 147.7, 12.3, ROT= 2.3, -12.3 2025-10-27T04:11:13.472Z,1761538273.472 [DAT](INFO): DAT read: Bearing 79.4, -0.1 (Local) 2025-10-27T04:11:13.472Z,1761538273.472 [DAT](INFO): Local bearing/azimuth received: Bearing 79.4, -0.1 (Local) 2025-10-27T04:11:13.473Z,1761538273.473 [DAT](INFO): DAT read: Range 11 to 50 : 114.6 m (Round-trip 152.9 ms) speed 0.5 m/s 2025-10-27T04:11:13.474Z,1761538273.474 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:13.475Z,1761538273.475 [DAT](INFO): direction in FSK: [0.976258,0.039211,0.213030] 2025-10-27T04:11:13.475Z,1761538273.475 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:13.479Z,1761538273.479 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:13.483Z,1761538273.483 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:13.483Z,1761538273.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:13.630Z,1761538273.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.599998 m, deltaT: 3.779984 s, deltaX: -2.200005 m, approachRate: -0.582014 m/s, rangeRepo size: 4 2025-10-27T04:11:13.634Z,1761538273.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.090759 m, bearing: 276.594078 deg, lat: 36.779408 deg, lon: -121.859552 deg, deltaT: 3.779984 s, deltaX: -2.191444 m, approachRate: -0.579750 m/s, posRepo size: 4 2025-10-27T04:11:13.635Z,1761538273.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:13.645Z,1761538273.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 111.399300 m, bearing: 277.259230 deg, approach rate: 0.000000 m/s, LOS rate: 0.031090 deg/s, cmd heading: 273.533285 deg, new cmd heading: 273.582818 deg. 2025-10-27T04:11:13.646Z,1761538273.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.774921 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:13.717Z,1761538273.717 [DAT](INFO): DAT read: user:83> 2025-10-27T04:11:13.718Z,1761538273.718 [DAT](INFO): DAT read: Tx time:04:11:12.7811 2025-10-27T04:11:13.719Z,1761538273.719 [DAT](INFO): Ping request sent. 2025-10-27T04:11:13.719Z,1761538273.719 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:13.719Z,1761538273.719 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:13.720Z,1761538273.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001678 2025-10-27T04:11:13.956Z,1761538273.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044245,0.988492,0.144657],[-0.999008,0.044519,0.001343],[-0.005112,-0.144573,0.989481]] 2025-10-27T04:11:13.968Z,1761538273.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249328 2025-10-27T04:11:13.976Z,1761538273.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:13.979Z,1761538273.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 111.190727 m, bearing: 277.269695 deg, approach rate: -0.601501 m/s, LOS rate: 0.030236 deg/s, cmd heading: 273.582817 deg, new cmd heading: 273.614271 deg. 2025-10-27T04:11:13.980Z,1761538273.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.775470 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:14.224Z,1761538274.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504754 2025-10-27T04:11:14.358Z,1761538274.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043925,0.988337,0.145809],[-0.999019,0.044273,0.000857],[-0.005609,-0.145703,0.989312]] 2025-10-27T04:11:14.413Z,1761538274.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:14.416Z,1761538274.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 110.939362 m, bearing: 277.283871 deg, approach rate: -0.574982 m/s, LOS rate: 0.032500 deg/s, cmd heading: 273.614264 deg, new cmd heading: 273.656888 deg. 2025-10-27T04:11:14.417Z,1761538274.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.776214 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:14.473Z,1761538274.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754385 2025-10-27T04:11:14.725Z,1761538274.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005812 2025-10-27T04:11:14.766Z,1761538274.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044850,0.988337,0.145530],[-0.998973,0.045301,0.000213],[-0.006382,-0.145390,0.989354]] 2025-10-27T04:11:14.783Z,1761538274.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:14.785Z,1761538274.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:14.788Z,1761538274.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 110.707077 m, bearing: 277.296917 deg, approach rate: -0.624211 m/s, LOS rate: 0.035131 deg/s, cmd heading: 273.656884 deg, new cmd heading: 273.696103 deg. 2025-10-27T04:11:14.789Z,1761538274.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.776898 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:14.976Z,1761538274.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257092 2025-10-27T04:11:15.166Z,1761538275.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045410,0.988201,0.146277],[-0.998945,0.045929,-0.000173],[-0.006889,-0.146114,0.989244]] 2025-10-27T04:11:15.184Z,1761538275.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:15.199Z,1761538275.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 110.468590 m, bearing: 277.310296 deg, approach rate: -0.598372 m/s, LOS rate: 0.033642 deg/s, cmd heading: 273.696117 deg, new cmd heading: 273.736342 deg. 2025-10-27T04:11:15.200Z,1761538275.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.777600 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:15.229Z,1761538275.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509299 2025-10-27T04:11:15.480Z,1761538275.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761186 2025-10-27T04:11:15.584Z,1761538275.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046417,0.987997,0.147337],[-0.998894,0.047014,-0.000574],[-0.007495,-0.147147,0.989086]] 2025-10-27T04:11:15.621Z,1761538275.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:15.624Z,1761538275.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 110.213173 m, bearing: 277.326397 deg, approach rate: -0.584045 m/s, LOS rate: 0.036902 deg/s, cmd heading: 273.736333 deg, new cmd heading: 273.784747 deg. 2025-10-27T04:11:15.625Z,1761538275.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.778445 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:15.732Z,1761538275.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013728 2025-10-27T04:11:15.984Z,1761538275.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265183 2025-10-27T04:11:16.040Z,1761538276.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:16.043Z,1761538276.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 109.985229 m, bearing: 277.340830 deg, approach rate: -0.584607 m/s, LOS rate: 0.037093 deg/s, cmd heading: 273.784745 deg, new cmd heading: 273.828133 deg. 2025-10-27T04:11:16.044Z,1761538276.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779202 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:16.236Z,1761538276.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517220 2025-10-27T04:11:16.378Z,1761538276.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048517,0.987842,0.147700],[-0.998785,0.049266,-0.001417],[-0.008676,-0.147451,0.989031]] 2025-10-27T04:11:16.431Z,1761538276.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:16.446Z,1761538276.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 109.736969 m, bearing: 277.357359 deg, approach rate: -0.591859 m/s, LOS rate: 0.039497 deg/s, cmd heading: 273.828130 deg, new cmd heading: 273.877832 deg. 2025-10-27T04:11:16.451Z,1761538276.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780070 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:16.488Z,1761538276.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769212 2025-10-27T04:11:16.740Z,1761538276.740 [DAT](INFO): DAT read: Rx Time:04:11:15.3351 2025-10-27T04:11:16.741Z,1761538276.741 [DAT](INFO): Rx dataTimestamp_ set to:1761538276.740391 2025-10-27T04:11:16.741Z,1761538276.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022511 2025-10-27T04:11:16.782Z,1761538276.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048868,0.987828,0.147675],[-0.998767,0.049623,-0.001434],[-0.008744,-0.147422,0.989035]] 2025-10-27T04:11:16.827Z,1761538276.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:16.829Z,1761538276.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:16.833Z,1761538276.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 109.507683 m, bearing: 277.372650 deg, approach rate: -0.575207 m/s, LOS rate: 0.038440 deg/s, cmd heading: 273.877827 deg, new cmd heading: 273.923795 deg. 2025-10-27T04:11:16.834Z,1761538276.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780872 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:16.992Z,1761538276.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273209 2025-10-27T04:11:17.204Z,1761538277.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049238,0.987950,0.146730],[-0.998753,0.049924,-0.000992],[-0.008305,-0.146498,0.989176]] 2025-10-27T04:11:17.222Z,1761538277.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.09 m. 2025-10-27T04:11:17.225Z,1761538277.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.090759 m, nav range: 109.267181 m, bearing: 277.388712 deg, approach rate: -0.611770 m/s, LOS rate: 0.040947 deg/s, cmd heading: 273.923808 deg, new cmd heading: 273.972100 deg. 2025-10-27T04:11:17.226Z,1761538277.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781715 target range: 114.090759 and range: 114.60 m. 2025-10-27T04:11:17.249Z,1761538277.249 [DAT](INFO): DAT read: 04:11:15.3351 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.15,-0.790,-2.562,-0.754,-0.973, PHS= 0.285,-1.545, 0.174, RAW= 146.9, 12.2, CAL= 146.6, 13.4, ROT= 3.4, -13.4 2025-10-27T04:11:17.250Z,1761538277.250 [DAT](INFO): got valid direction response: 04:11:15.3351 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.15,-0.790,-2.562,-0.754,-0.973, PHS= 0.285,-1.545, 0.174, RAW= 146.9, 12.2, CAL= 146.6, 13.4, ROT= 3.4, -13.4 2025-10-27T04:11:17.251Z,1761538277.251 [DAT](INFO): DAT read: Bearing 81.4, 0.5 (Local) 2025-10-27T04:11:17.252Z,1761538277.252 [DAT](INFO): Local bearing/azimuth received: Bearing 81.4, 0.5 (Local) 2025-10-27T04:11:17.253Z,1761538277.253 [DAT](INFO): DAT read: Range 11 to 50 : 112.5 m (Round-trip 150.0 ms) speed 0.5 m/s 2025-10-27T04:11:17.254Z,1761538277.254 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:17.255Z,1761538277.255 [DAT](INFO): direction in FSK: [0.971064,0.057692,0.231748] 2025-10-27T04:11:17.255Z,1761538277.255 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:17.263Z,1761538277.263 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:17.264Z,1761538277.264 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:17.264Z,1761538277.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:17.496Z,1761538277.496 [DAT](INFO): DAT read: user:84> 2025-10-27T04:11:17.497Z,1761538277.497 [DAT](INFO): DAT read: Tx time:04:11:16.5810 2025-10-27T04:11:17.497Z,1761538277.497 [DAT](INFO): Ping request sent. 2025-10-27T04:11:17.497Z,1761538277.497 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:17.497Z,1761538277.497 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:17.498Z,1761538277.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-10-27T04:11:17.609Z,1761538277.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049618,0.988107,0.145544],[-0.998737,0.050242,-0.000615],[-0.007920,-0.145330,0.989352]] 2025-10-27T04:11:17.692Z,1761538277.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.780014 s, deltaX: -2.099998 m, approachRate: -0.555553 m/s, rangeRepo size: 4 2025-10-27T04:11:17.694Z,1761538277.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.998055 m, bearing: 278.174385 deg, lat: 36.779408 deg, lon: -121.859552 deg, deltaT: 3.780014 s, deltaX: -2.092705 m, approachRate: -0.553624 m/s, posRepo size: 4 2025-10-27T04:11:17.716Z,1761538277.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:17.724Z,1761538277.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 109.026146 m, bearing: 277.406086 deg, approach rate: 0.000000 m/s, LOS rate: 0.040947 deg/s, cmd heading: 273.972111 deg, new cmd heading: 274.029534 deg. 2025-10-27T04:11:17.726Z,1761538277.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782718 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:17.748Z,1761538277.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251006 2025-10-27T04:11:17.000Z,1761538278.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502894 2025-10-27T04:11:18.091Z,1761538278.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:18.094Z,1761538278.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 108.784828 m, bearing: 277.423441 deg, approach rate: -0.601826 m/s, LOS rate: 0.043377 deg/s, cmd heading: 274.029539 deg, new cmd heading: 274.081719 deg. 2025-10-27T04:11:18.095Z,1761538278.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783628 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:18.252Z,1761538278.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754805 2025-10-27T04:11:18.436Z,1761538278.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050196,0.988093,0.145441],[-0.998713,0.050727,0.000059],[-0.007319,-0.145256,0.989367]] 2025-10-27T04:11:18.472Z,1761538278.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:18.475Z,1761538278.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 108.558563 m, bearing: 277.438420 deg, approach rate: -0.593048 m/s, LOS rate: 0.039343 deg/s, cmd heading: 274.081722 deg, new cmd heading: 274.126753 deg. 2025-10-27T04:11:18.476Z,1761538278.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784414 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:18.504Z,1761538278.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006987 2025-10-27T04:11:18.756Z,1761538278.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258862 2025-10-27T04:11:18.886Z,1761538278.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:18.888Z,1761538278.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:18.891Z,1761538278.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 108.322395 m, bearing: 277.454122 deg, approach rate: -0.567718 m/s, LOS rate: 0.037828 deg/s, cmd heading: 274.126746 deg, new cmd heading: 274.173954 deg. 2025-10-27T04:11:18.892Z,1761538278.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785238 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:19.008Z,1761538279.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511237 2025-10-27T04:11:19.243Z,1761538279.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050654,0.988424,0.143009],[-0.998696,0.051042,0.000959],[-0.006351,-0.142872,0.989721]] 2025-10-27T04:11:19.260Z,1761538279.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763034 2025-10-27T04:11:19.263Z,1761538279.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:19.265Z,1761538279.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 108.090790 m, bearing: 277.469531 deg, approach rate: -0.618843 m/s, LOS rate: 0.041262 deg/s, cmd heading: 274.173957 deg, new cmd heading: 274.220284 deg. 2025-10-27T04:11:19.266Z,1761538279.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786047 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:19.512Z,1761538279.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014885 2025-10-27T04:11:19.645Z,1761538279.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050662,0.988574,0.141969],[-0.998698,0.050999,0.001266],[-0.005989,-0.141848,0.989870]] 2025-10-27T04:11:19.691Z,1761538279.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:19.696Z,1761538279.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 107.826523 m, bearing: 277.484769 deg, approach rate: -0.617707 m/s, LOS rate: 0.035704 deg/s, cmd heading: 274.220293 deg, new cmd heading: 274.266117 deg. 2025-10-27T04:11:19.697Z,1761538279.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786847 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:19.765Z,1761538279.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267973 2025-10-27T04:11:20.016Z,1761538280.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518884 2025-10-27T04:11:20.076Z,1761538280.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050705,0.988635,0.141524],[-0.998697,0.051003,0.001523],[-0.005713,-0.141417,0.989934]] 2025-10-27T04:11:20.095Z,1761538280.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:20.098Z,1761538280.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 107.575127 m, bearing: 277.499328 deg, approach rate: -0.621797 m/s, LOS rate: 0.036094 deg/s, cmd heading: 274.266110 deg, new cmd heading: 274.309889 deg. 2025-10-27T04:11:20.108Z,1761538280.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787611 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:20.268Z,1761538280.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770927 2025-10-27T04:11:20.526Z,1761538280.526 [DAT](INFO): DAT read: 04:11:19.1319 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 411, 0.05,-1.590, 2.866,-1.511,-1.794, PHS= 0.307,-1.577, 0.239, RAW= 148.2, 11.1, CAL= 147.9, 12.2, ROT= 2.1, -12.2 2025-10-27T04:11:20.527Z,1761538280.527 [DAT](INFO): got valid direction response: 04:11:19.1319 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 411, 0.05,-1.590, 2.866,-1.511,-1.794, PHS= 0.307,-1.577, 0.239, RAW= 148.2, 11.1, CAL= 147.9, 12.2, ROT= 2.1, -12.2 2025-10-27T04:11:20.528Z,1761538280.528 [DAT](INFO): DAT read: Rx Time:04:11:19.1319 2025-10-27T04:11:20.528Z,1761538280.528 [DAT](INFO): Rx dataTimestamp_ set to:1761538280.527862 2025-10-27T04:11:20.529Z,1761538280.529 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-27T04:11:20.529Z,1761538280.529 [DAT](INFO): Received low SNR in chirp 2025-10-27T04:11:20.544Z,1761538280.544 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:11:20.546Z,1761538280.546 [DAT](INFO): direction in FSK: [0.976759,0.035816,0.211325] 2025-10-27T04:11:20.561Z,1761538280.561 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:20.561Z,1761538280.561 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:20.561Z,1761538280.561 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:20.605Z,1761538280.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050665,0.988722,0.140935],[-0.998700,0.050946,0.001614],[-0.005584,-0.140834,0.990018]] 2025-10-27T04:11:20.714Z,1761538280.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:20.722Z,1761538280.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 107.199097 m, bearing: 277.520226 deg, approach rate: -0.607578 m/s, LOS rate: 0.033885 deg/s, cmd heading: 274.309877 deg, new cmd heading: 274.372792 deg. 2025-10-27T04:11:20.728Z,1761538280.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788709 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:20.773Z,1761538280.773 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:20.773Z,1761538280.773 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:20.773Z,1761538280.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:21.024Z,1761538281.024 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:21.024Z,1761538281.024 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:21.024Z,1761538281.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:21.185Z,1761538281.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051367,0.988835,0.139882],[-0.998659,0.051756,0.000860],[-0.006389,-0.139739,0.990168]] 2025-10-27T04:11:21.213Z,1761538281.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:21.232Z,1761538281.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:21.234Z,1761538281.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 106.877831 m, bearing: 277.538077 deg, approach rate: -0.619791 m/s, LOS rate: 0.034541 deg/s, cmd heading: 274.372797 deg, new cmd heading: 274.426510 deg. 2025-10-27T04:11:21.240Z,1761538281.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789646 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:21.276Z,1761538281.276 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:21.276Z,1761538281.276 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:21.276Z,1761538281.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:21.528Z,1761538281.528 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:21.528Z,1761538281.528 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:21.528Z,1761538281.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:21.763Z,1761538281.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051739,0.988971,0.138782],[-0.998638,0.052181,0.000455],[-0.006791,-0.138616,0.990323]] 2025-10-27T04:11:21.780Z,1761538281.780 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:21.780Z,1761538281.780 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:21.780Z,1761538281.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:21.802Z,1761538281.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:21.805Z,1761538281.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 106.516769 m, bearing: 277.552754 deg, approach rate: -0.633892 m/s, LOS rate: 0.025855 deg/s, cmd heading: 274.426510 deg, new cmd heading: 274.470690 deg. 2025-10-27T04:11:21.805Z,1761538281.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790417 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:22.032Z,1761538282.032 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:22.032Z,1761538282.032 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:22.033Z,1761538282.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:22.150Z,1761538282.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051960,0.989139,0.137492],[-0.998623,0.052451,0.000057],[-0.007156,-0.137306,0.990503]] 2025-10-27T04:11:22.168Z,1761538282.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:22.171Z,1761538282.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 106.292442 m, bearing: 277.561897 deg, approach rate: -0.611495 m/s, LOS rate: 0.024977 deg/s, cmd heading: 274.470687 deg, new cmd heading: 274.498176 deg. 2025-10-27T04:11:22.172Z,1761538282.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790897 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:22.284Z,1761538282.284 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:22.284Z,1761538282.284 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:22.285Z,1761538282.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:22.536Z,1761538282.536 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:22.536Z,1761538282.536 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:22.536Z,1761538282.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:22.586Z,1761538282.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052138,0.989281,0.136402],[-0.998612,0.052662,-0.000232],[-0.007412,-0.136200,0.990654]] 2025-10-27T04:11:22.675Z,1761538282.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:22.678Z,1761538282.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 106.017570 m, bearing: 277.572190 deg, approach rate: -0.543070 m/s, LOS rate: 0.020387 deg/s, cmd heading: 274.498172 deg, new cmd heading: 274.529129 deg. 2025-10-27T04:11:22.678Z,1761538282.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791437 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:22.788Z,1761538282.788 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:22.788Z,1761538282.788 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:22.788Z,1761538282.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:22.979Z,1761538282.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052169,0.989047,0.138071],[-0.998612,0.052678,-0.000032],[-0.007305,-0.137878,0.990422]] 2025-10-27T04:11:22.997Z,1761538282.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:23.000Z,1761538283.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 105.801125 m, bearing: 277.580325 deg, approach rate: -0.670385 m/s, LOS rate: 0.025249 deg/s, cmd heading: 274.529126 deg, new cmd heading: 274.553583 deg. 2025-10-27T04:11:23.001Z,1761538283.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791864 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:23.041Z,1761538283.041 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:23.041Z,1761538283.041 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:23.041Z,1761538283.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:23.292Z,1761538283.292 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:23.292Z,1761538283.292 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:23.292Z,1761538283.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:23.514Z,1761538283.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:23.517Z,1761538283.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:23.520Z,1761538283.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 105.491737 m, bearing: 277.593384 deg, approach rate: -0.595660 m/s, LOS rate: 0.025216 deg/s, cmd heading: 274.553579 deg, new cmd heading: 274.592871 deg. 2025-10-27T04:11:23.521Z,1761538283.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792550 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:23.545Z,1761538283.545 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:23.545Z,1761538283.545 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:23.546Z,1761538283.546 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:23.796Z,1761538283.796 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:23.796Z,1761538283.796 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:23.796Z,1761538283.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:23.844Z,1761538283.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053412,0.988912,0.138565],[-0.998550,0.053818,0.000815],[-0.006651,-0.138407,0.990353]] 2025-10-27T04:11:23.863Z,1761538283.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:23.866Z,1761538283.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 105.285637 m, bearing: 277.601985 deg, approach rate: -0.596081 m/s, LOS rate: 0.024923 deg/s, cmd heading: 274.592866 deg, new cmd heading: 274.618718 deg. 2025-10-27T04:11:23.866Z,1761538283.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793001 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:24.049Z,1761538284.049 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:24.049Z,1761538284.049 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:24.049Z,1761538284.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:24.230Z,1761538284.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054246,0.988892,0.138385],[-0.998506,0.054643,0.000933],[-0.006639,-0.138229,0.990378]] 2025-10-27T04:11:24.266Z,1761538284.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:24.269Z,1761538284.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 105.054893 m, bearing: 277.611549 deg, approach rate: -0.571229 m/s, LOS rate: 0.023728 deg/s, cmd heading: 274.618711 deg, new cmd heading: 274.647466 deg. 2025-10-27T04:11:24.270Z,1761538284.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793502 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:24.300Z,1761538284.300 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:24.301Z,1761538284.301 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:24.301Z,1761538284.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:24.553Z,1761538284.553 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:24.554Z,1761538284.554 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:24.554Z,1761538284.554 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:24.636Z,1761538284.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055005,0.988929,0.137817],[-0.998464,0.055388,0.001056],[-0.006590,-0.137663,0.990457]] 2025-10-27T04:11:24.672Z,1761538284.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:24.675Z,1761538284.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 104.818314 m, bearing: 277.619440 deg, approach rate: -0.583249 m/s, LOS rate: 0.019500 deg/s, cmd heading: 274.647453 deg, new cmd heading: 274.671181 deg. 2025-10-27T04:11:24.676Z,1761538284.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793917 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:24.804Z,1761538284.804 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:24.804Z,1761538284.804 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:24.804Z,1761538284.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:25.056Z,1761538285.056 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:25.056Z,1761538285.056 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:25.057Z,1761538285.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:25.088Z,1761538285.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:25.091Z,1761538285.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 104.585739 m, bearing: 277.627234 deg, approach rate: -0.559387 m/s, LOS rate: 0.018786 deg/s, cmd heading: 274.671194 deg, new cmd heading: 274.694626 deg. 2025-10-27T04:11:25.092Z,1761538285.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794326 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:25.308Z,1761538285.308 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:25.308Z,1761538285.308 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:25.308Z,1761538285.308 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:25.477Z,1761538285.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057020,0.988862,0.137480],[-0.998353,0.057344,0.001605],[-0.006297,-0.137345,0.990503]] 2025-10-27T04:11:25.531Z,1761538285.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:25.534Z,1761538285.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:25.547Z,1761538285.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 104.342499 m, bearing: 277.639090 deg, approach rate: -0.545797 m/s, LOS rate: 0.026665 deg/s, cmd heading: 274.694636 deg, new cmd heading: 274.730286 deg. 2025-10-27T04:11:25.549Z,1761538285.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794948 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:25.561Z,1761538285.561 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:25.561Z,1761538285.561 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:25.562Z,1761538285.562 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:25.813Z,1761538285.813 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:25.813Z,1761538285.813 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:25.813Z,1761538285.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:25.895Z,1761538285.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058353,0.988768,0.137598],[-0.998277,0.058650,0.001900],[-0.006191,-0.137472,0.990486]] 2025-10-27T04:11:25.917Z,1761538285.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:25.920Z,1761538285.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 104.126816 m, bearing: 277.649489 deg, approach rate: -0.562819 m/s, LOS rate: 0.027193 deg/s, cmd heading: 274.730289 deg, new cmd heading: 274.761552 deg. 2025-10-27T04:11:25.921Z,1761538285.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795494 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:26.065Z,1761538286.065 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:26.065Z,1761538286.065 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:26.065Z,1761538286.065 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:26.297Z,1761538286.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059909,0.988685,0.137525],[-0.998185,0.060183,0.002165],[-0.006136,-0.137405,0.990496]] 2025-10-27T04:11:26.316Z,1761538286.316 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:26.316Z,1761538286.316 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:26.316Z,1761538286.316 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:26.340Z,1761538286.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:26.343Z,1761538286.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 103.903595 m, bearing: 277.660105 deg, approach rate: -0.528576 m/s, LOS rate: 0.025191 deg/s, cmd heading: 274.761544 deg, new cmd heading: 274.793459 deg. 2025-10-27T04:11:26.352Z,1761538286.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796051 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:26.569Z,1761538286.569 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:26.569Z,1761538286.569 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:26.569Z,1761538286.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:26.731Z,1761538286.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061752,0.988459,0.138331],[-0.998074,0.061973,0.002716],[-0.005888,-0.138232,0.990382]] 2025-10-27T04:11:26.768Z,1761538286.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:26.772Z,1761538286.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 103.662262 m, bearing: 277.670856 deg, approach rate: -0.562071 m/s, LOS rate: 0.025099 deg/s, cmd heading: 274.793455 deg, new cmd heading: 274.825784 deg. 2025-10-27T04:11:26.772Z,1761538286.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796615 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:26.820Z,1761538286.820 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:26.820Z,1761538286.820 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:26.820Z,1761538286.820 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:27.073Z,1761538287.073 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:27.073Z,1761538287.073 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:27.073Z,1761538287.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:27.125Z,1761538287.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063313,0.988282,0.138888],[-0.997979,0.063461,0.003364],[-0.005490,-0.138820,0.990302]] 2025-10-27T04:11:27.156Z,1761538287.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:27.163Z,1761538287.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 103.462273 m, bearing: 277.679628 deg, approach rate: -0.515716 m/s, LOS rate: 0.022664 deg/s, cmd heading: 274.825775 deg, new cmd heading: 274.852142 deg. 2025-10-27T04:11:27.164Z,1761538287.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797075 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:27.324Z,1761538287.324 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:27.324Z,1761538287.324 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:27.324Z,1761538287.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:11:27.527Z,1761538287.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064746,0.988155,0.139130],[-0.997889,0.064809,0.004086],[-0.004979,-0.139101,0.990266]] 2025-10-27T04:11:27.576Z,1761538287.576 [DAT](INFO): Reached modem response timeout 2025-10-27T04:11:27.576Z,1761538287.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:27.576Z,1761538287.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:27.589Z,1761538287.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:27.591Z,1761538287.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:27.594Z,1761538287.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 103.229172 m, bearing: 277.694754 deg, approach rate: -0.536190 m/s, LOS rate: 0.034871 deg/s, cmd heading: 274.852140 deg, new cmd heading: 274.897619 deg. 2025-10-27T04:11:27.595Z,1761538287.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797869 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:27.828Z,1761538287.828 [DAT](INFO): DAT read: 2025-10-27T04:11:27.828Z,1761538287.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:27.958Z,1761538287.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066506,0.987868,0.140336],[-0.997778,0.066403,0.005421],[-0.003964,-0.140384,0.990089]] 2025-10-27T04:11:27.977Z,1761538287.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:27.980Z,1761538287.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 103.027588 m, bearing: 277.707686 deg, approach rate: -0.521846 m/s, LOS rate: 0.033544 deg/s, cmd heading: 274.897629 deg, new cmd heading: 274.936502 deg. 2025-10-27T04:11:27.981Z,1761538287.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798547 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:28.080Z,1761538288.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:28.332Z,1761538288.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:28.357Z,1761538288.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068799,0.987643,0.140810],[-0.997624,0.068608,0.006212],[-0.003525,-0.140903,0.990017]] 2025-10-27T04:11:28.375Z,1761538288.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:28.378Z,1761538288.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 102.819496 m, bearing: 277.720819 deg, approach rate: -0.523272 m/s, LOS rate: 0.033091 deg/s, cmd heading: 274.936506 deg, new cmd heading: 274.975984 deg. 2025-10-27T04:11:28.379Z,1761538288.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799236 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:28.584Z,1761538288.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:28.758Z,1761538288.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070791,0.987409,0.141467],[-0.997487,0.070469,0.007291],[-0.002770,-0.141627,0.989916]] 2025-10-27T04:11:28.808Z,1761538288.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:28.816Z,1761538288.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 102.580750 m, bearing: 277.735556 deg, approach rate: -0.551080 m/s, LOS rate: 0.034095 deg/s, cmd heading: 274.975985 deg, new cmd heading: 275.020298 deg. 2025-10-27T04:11:28.817Z,1761538288.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800010 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:28.849Z,1761538288.849 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:29.100Z,1761538289.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:29.163Z,1761538289.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072521,0.987086,0.142833],[-0.997366,0.071969,0.009038],[-0.001359,-0.143112,0.989706]] 2025-10-27T04:11:29.182Z,1761538289.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:29.185Z,1761538289.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 102.374954 m, bearing: 277.748110 deg, approach rate: -0.550596 m/s, LOS rate: 0.033656 deg/s, cmd heading: 275.020299 deg, new cmd heading: 275.058037 deg. 2025-10-27T04:11:29.186Z,1761538289.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800668 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:29.352Z,1761538289.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:29.572Z,1761538289.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074162,0.986920,0.143141],[-0.997246,0.073479,0.010059],[-0.000591,-0.143493,0.989651]] 2025-10-27T04:11:29.604Z,1761538289.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:29.624Z,1761538289.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:29.626Z,1761538289.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:29.629Z,1761538289.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 102.127121 m, bearing: 277.764158 deg, approach rate: -0.558565 m/s, LOS rate: 0.036258 deg/s, cmd heading: 275.058029 deg, new cmd heading: 275.106292 deg. 2025-10-27T04:11:29.630Z,1761538289.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801511 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:29.856Z,1761538289.856 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:11:29.856Z,1761538289.856 [DAT](INFO): response not received 2025-10-27T04:11:29.857Z,1761538289.857 [DAT](INFO): DAT read: user:86>Tx time:04:11:29.0310 2025-10-27T04:11:29.857Z,1761538289.857 [DAT](ERROR): No response from remote modem. 2025-10-27T04:11:29.858Z,1761538289.858 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:29.858Z,1761538289.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:30.004Z,1761538290.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:30.008Z,1761538290.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 101.911621 m, bearing: 277.778177 deg, approach rate: -0.569127 m/s, LOS rate: 0.037101 deg/s, cmd heading: 275.106305 deg, new cmd heading: 275.148449 deg. 2025-10-27T04:11:30.009Z,1761538290.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802247 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:30.108Z,1761538290.108 [DAT](INFO): DAT read: 2025-10-27T04:11:30.108Z,1761538290.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:30.360Z,1761538290.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:30.379Z,1761538290.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076523,0.986594,0.144144],[-0.997067,0.075493,0.012606],[0.001555,-0.144686,0.989476]] 2025-10-27T04:11:30.398Z,1761538290.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:30.401Z,1761538290.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 101.690369 m, bearing: 277.792333 deg, approach rate: -0.561865 m/s, LOS rate: 0.036027 deg/s, cmd heading: 275.148461 deg, new cmd heading: 275.191021 deg. 2025-10-27T04:11:30.402Z,1761538290.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802989 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:30.612Z,1761538290.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:30.778Z,1761538290.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077585,0.986423,0.144744],[-0.996982,0.076356,0.014037],[0.002795,-0.145396,0.989370]] 2025-10-27T04:11:30.828Z,1761538290.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:30.833Z,1761538290.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 101.437431 m, bearing: 277.804683 deg, approach rate: -0.588259 m/s, LOS rate: 0.028796 deg/s, cmd heading: 275.191026 deg, new cmd heading: 275.228171 deg. 2025-10-27T04:11:30.834Z,1761538290.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803638 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:30.864Z,1761538290.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:31.116Z,1761538291.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:31.219Z,1761538291.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:31.222Z,1761538291.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 101.207932 m, bearing: 277.815943 deg, approach rate: -0.587312 m/s, LOS rate: 0.028879 deg/s, cmd heading: 275.228183 deg, new cmd heading: 275.262037 deg. 2025-10-27T04:11:31.260Z,1761538291.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804229 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:31.368Z,1761538291.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:31.585Z,1761538291.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079774,0.986498,0.143033],[-0.996800,0.078218,0.016477],[0.005067,-0.143890,0.989581]] 2025-10-27T04:11:31.620Z,1761538291.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:31.630Z,1761538291.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:31.632Z,1761538291.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:31.635Z,1761538291.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 100.941620 m, bearing: 277.828857 deg, approach rate: -0.644082 m/s, LOS rate: 0.031317 deg/s, cmd heading: 275.262033 deg, new cmd heading: 275.300879 deg. 2025-10-27T04:11:31.636Z,1761538291.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804907 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:31.872Z,1761538291.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:31.994Z,1761538291.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080708,0.986427,0.142998],[-0.996719,0.078988,0.017673],[0.006138,-0.143955,0.989565]] 2025-10-27T04:11:32.026Z,1761538292.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:32.028Z,1761538292.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 100.687592 m, bearing: 277.841104 deg, approach rate: -0.645880 m/s, LOS rate: 0.031216 deg/s, cmd heading: 275.300883 deg, new cmd heading: 275.337716 deg. 2025-10-27T04:11:32.029Z,1761538292.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805550 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:32.125Z,1761538292.125 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:32.376Z,1761538292.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:32.394Z,1761538292.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080787,0.986562,0.142015],[-0.996704,0.078911,0.018800],[0.007341,-0.143065,0.989686]] 2025-10-27T04:11:32.413Z,1761538292.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:32.415Z,1761538292.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 100.437927 m, bearing: 277.853186 deg, approach rate: -0.645109 m/s, LOS rate: 0.031297 deg/s, cmd heading: 275.337712 deg, new cmd heading: 275.374048 deg. 2025-10-27T04:11:32.416Z,1761538292.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806184 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:32.631Z,1761538292.631 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:32.797Z,1761538292.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080772,0.986642,0.141468],[-0.996696,0.078741,0.019903],[0.008498,-0.142609,0.989743]] 2025-10-27T04:11:32.845Z,1761538292.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:32.848Z,1761538292.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 100.152092 m, bearing: 277.863754 deg, approach rate: -0.660494 m/s, LOS rate: 0.024490 deg/s, cmd heading: 275.374048 deg, new cmd heading: 275.405843 deg. 2025-10-27T04:11:32.849Z,1761538292.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806739 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:32.880Z,1761538292.880 [DAT](INFO): DAT read: Rx Time:04:11:31.5721 2025-10-27T04:11:32.881Z,1761538292.881 [DAT](INFO): Rx dataTimestamp_ set to:1761538292.880251 2025-10-27T04:11:32.881Z,1761538292.881 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:33.132Z,1761538293.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:33.202Z,1761538293.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080411,0.986675,0.141447],[-0.996713,0.078186,0.021227],[0.009885,-0.142688,0.989718]] 2025-10-27T04:11:33.220Z,1761538293.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.00 m. 2025-10-27T04:11:33.223Z,1761538293.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.998055 m, nav range: 99.904335 m, bearing: 277.873015 deg, approach rate: -0.660863 m/s, LOS rate: 0.024764 deg/s, cmd heading: 275.405850 deg, new cmd heading: 275.433701 deg. 2025-10-27T04:11:33.224Z,1761538293.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807225 target range: 111.998055 and range: 112.50 m. 2025-10-27T04:11:33.386Z,1761538293.386 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:33.605Z,1761538293.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079786,0.986794,0.140965],[-0.996749,0.077395,0.022376],[0.011170,-0.142292,0.989762]] 2025-10-27T04:11:33.642Z,1761538293.642 [DAT](INFO): DAT read: 04:11:31.5721 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 343,-0.22,-2.147, 2.376,-2.010,-2.280, PHS= 0.235,-1.581, 0.226, RAW= 149.8, 12.3, CAL= 149.7, 13.6, ROT= 0.3, -13.6 2025-10-27T04:11:33.643Z,1761538293.643 [DAT](INFO): got valid direction response: 04:11:31.5721 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 343,-0.22,-2.147, 2.376,-2.010,-2.280, PHS= 0.235,-1.581, 0.226, RAW= 149.8, 12.3, CAL= 149.7, 13.6, ROT= 0.3, -13.6 2025-10-27T04:11:33.644Z,1761538293.644 [DAT](INFO): DAT read: Bearing 85.5, -1.3 (Local) 2025-10-27T04:11:33.644Z,1761538293.644 [DAT](INFO): Local bearing/azimuth received: Bearing 85.5, -1.3 (Local) 2025-10-27T04:11:33.646Z,1761538293.646 [DAT](INFO): DAT read: Range 11 to 50 : 102.7 m (Round-trip 137.0 ms) speed 0.6 m/s 2025-10-27T04:11:33.647Z,1761538293.647 [DAT](INFO): DAT read: Tx time:04:11:32.6310 2025-10-27T04:11:33.648Z,1761538293.648 [DAT](INFO): Ping request sent. 2025-10-27T04:11:33.648Z,1761538293.648 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:33.648Z,1761538293.648 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:33.649Z,1761538293.649 [DAT](INFO): direction in FSK: [0.971948,0.005089,0.235142] 2025-10-27T04:11:33.649Z,1761538293.649 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:33.650Z,1761538293.650 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:33.653Z,1761538293.653 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:33.653Z,1761538293.653 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:33.754Z,1761538293.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.699997 m, deltaT: 16.392084 s, deltaX: -9.800003 m, approachRate: -0.597850 m/s, rangeRepo size: 4 2025-10-27T04:11:33.761Z,1761538293.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.244873 m, bearing: 276.851042 deg, lat: 36.779406 deg, lon: -121.859552 deg, deltaT: 16.392084 s, deltaX: -9.753181 m, approachRate: -0.594993 m/s, posRepo size: 4 2025-10-27T04:11:33.761Z,1761538293.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.24 m. 2025-10-27T04:11:33.768Z,1761538293.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.244873 m, nav range: 99.537117 m, bearing: 277.730927 deg, approach rate: 0.000000 m/s, LOS rate: 0.024764 deg/s, cmd heading: 275.433689 deg, new cmd heading: 275.473318 deg. 2025-10-27T04:11:33.769Z,1761538293.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807917 target range: 102.244873 and range: 102.70 m. 2025-10-27T04:11:34.095Z,1761538294.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079006,0.986931,0.140444],[-0.996796,0.076447,0.023532],[0.012488,-0.141853,0.989809]] 2025-10-27T04:11:34.125Z,1761538294.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:34.127Z,1761538294.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.24 m. 2025-10-27T04:11:34.130Z,1761538294.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.244873 m, nav range: 99.261635 m, bearing: 277.740352 deg, approach rate: -0.738093 m/s, LOS rate: 0.025323 deg/s, cmd heading: 275.473332 deg, new cmd heading: 275.501686 deg. 2025-10-27T04:11:34.131Z,1761538294.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808412 target range: 102.244873 and range: 102.70 m. 2025-10-27T04:11:34.140Z,1761538294.140 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:34.140Z,1761538294.140 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:34.140Z,1761538294.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:34.393Z,1761538294.393 [DAT](INFO): DAT read: user:87> 2025-10-27T04:11:34.393Z,1761538294.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745581 2025-10-27T04:11:34.498Z,1761538294.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078189,0.987066,0.139957],[-0.996844,0.075478,0.024580],[0.013698,-0.141437,0.989852]] 2025-10-27T04:11:34.576Z,1761538294.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.24 m. 2025-10-27T04:11:34.585Z,1761538294.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.244873 m, nav range: 98.997757 m, bearing: 277.749555 deg, approach rate: -0.595765 m/s, LOS rate: 0.020832 deg/s, cmd heading: 275.501691 deg, new cmd heading: 275.529372 deg. 2025-10-27T04:11:34.586Z,1761538294.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808895 target range: 102.244873 and range: 102.70 m. 2025-10-27T04:11:34.645Z,1761538294.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996846 2025-10-27T04:11:34.896Z,1761538294.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248431 2025-10-27T04:11:34.914Z,1761538294.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077553,0.987133,0.139838],[-0.996879,0.074702,0.025534],[0.014759,-0.141382,0.989845]] 2025-10-27T04:11:34.977Z,1761538294.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.24 m. 2025-10-27T04:11:34.984Z,1761538294.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.244873 m, nav range: 98.717598 m, bearing: 277.758430 deg, approach rate: -0.687347 m/s, LOS rate: 0.021837 deg/s, cmd heading: 275.529367 deg, new cmd heading: 275.556069 deg. 2025-10-27T04:11:34.985Z,1761538294.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809361 target range: 102.244873 and range: 102.70 m. 2025-10-27T04:11:35.148Z,1761538295.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500091 2025-10-27T04:11:35.340Z,1761538295.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.24 m. 2025-10-27T04:11:35.342Z,1761538295.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.244873 m, nav range: 98.471512 m, bearing: 277.766268 deg, approach rate: -0.679242 m/s, LOS rate: 0.021688 deg/s, cmd heading: 275.556059 deg, new cmd heading: 275.579631 deg. 2025-10-27T04:11:35.343Z,1761538295.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809772 target range: 102.244873 and range: 102.70 m. 2025-10-27T04:11:35.401Z,1761538295.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752854 2025-10-27T04:11:35.652Z,1761538295.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004047 2025-10-27T04:11:35.718Z,1761538295.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077016,0.986910,0.141698],[-0.996902,0.073945,0.026821],[0.015992,-0.143324,0.989547]] 2025-10-27T04:11:35.764Z,1761538295.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.24 m. 2025-10-27T04:11:35.767Z,1761538295.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.244873 m, nav range: 98.191681 m, bearing: 277.776760 deg, approach rate: -0.658939 m/s, LOS rate: 0.024776 deg/s, cmd heading: 275.579637 deg, new cmd heading: 275.611202 deg. 2025-10-27T04:11:35.768Z,1761538295.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810323 target range: 102.244873 and range: 102.70 m. 2025-10-27T04:11:35.904Z,1761538295.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256083 2025-10-27T04:11:36.136Z,1761538296.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076783,0.986886,0.141985],[-0.996908,0.073603,0.027517],[0.016706,-0.143658,0.989486]] 2025-10-27T04:11:36.156Z,1761538296.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508090 2025-10-27T04:11:36.165Z,1761538296.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:36.188Z,1761538296.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.24 m. 2025-10-27T04:11:36.190Z,1761538296.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.244873 m, nav range: 97.931709 m, bearing: 277.786596 deg, approach rate: -0.614404 m/s, LOS rate: 0.023307 deg/s, cmd heading: 275.611192 deg, new cmd heading: 275.640778 deg. 2025-10-27T04:11:36.203Z,1761538296.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810839 target range: 102.244873 and range: 102.70 m. 2025-10-27T04:11:36.408Z,1761538296.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760314 2025-10-27T04:11:36.574Z,1761538296.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077144,0.986788,0.142475],[-0.996879,0.073934,0.027693],[0.016793,-0.144167,0.989411]] 2025-10-27T04:11:36.660Z,1761538296.660 [DAT](INFO): DAT read: Rx Time:04:11:35.1688 2025-10-27T04:11:36.660Z,1761538296.660 [DAT](INFO): Rx dataTimestamp_ set to:1761538296.660125 2025-10-27T04:11:36.661Z,1761538296.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013114 2025-10-27T04:11:36.740Z,1761538296.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.24 m. 2025-10-27T04:11:36.748Z,1761538296.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.244873 m, nav range: 97.597832 m, bearing: 277.799477 deg, approach rate: -0.603919 m/s, LOS rate: 0.023379 deg/s, cmd heading: 275.640781 deg, new cmd heading: 275.679556 deg. 2025-10-27T04:11:36.749Z,1761538296.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811516 target range: 102.244873 and range: 102.70 m. 2025-10-27T04:11:36.912Z,1761538296.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264031 2025-10-27T04:11:37.124Z,1761538297.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.24 m. 2025-10-27T04:11:37.127Z,1761538297.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.244873 m, nav range: 97.355042 m, bearing: 277.808899 deg, approach rate: -0.632298 m/s, LOS rate: 0.024600 deg/s, cmd heading: 275.679549 deg, new cmd heading: 275.707887 deg. 2025-10-27T04:11:37.128Z,1761538297.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812010 target range: 102.244873 and range: 102.70 m. 2025-10-27T04:11:37.173Z,1761538297.173 [DAT](INFO): DAT read: 04:11:35.1688 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 150,-0.28,-1.570, 2.927,-1.417,-1.745, PHS= 0.277,-1.566, 0.284, RAW= 150.2, 10.9, CAL= 150.0, 11.9, ROT= 0.0, -11.9 2025-10-27T04:11:37.174Z,1761538297.174 [DAT](INFO): got valid direction response: 04:11:35.1688 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 150,-0.28,-1.570, 2.927,-1.417,-1.745, PHS= 0.277,-1.566, 0.284, RAW= 150.2, 10.9, CAL= 150.0, 11.9, ROT= 0.0, -11.9 2025-10-27T04:11:37.176Z,1761538297.176 [DAT](INFO): DAT read: Bearing 84.5, -1.4 (Local) 2025-10-27T04:11:37.177Z,1761538297.177 [DAT](INFO): Local bearing/azimuth received: Bearing 84.5, -1.4 (Local) 2025-10-27T04:11:37.179Z,1761538297.179 [DAT](INFO): DAT read: Range 11 to 50 : 100.2 m (Round-trip 133.6 ms) speed 0.4 m/s 2025-10-27T04:11:37.180Z,1761538297.180 [DAT](INFO): DAT read: Tx time:04:11:36.2326 2025-10-27T04:11:37.181Z,1761538297.181 [DAT](INFO): Ping request sent. 2025-10-27T04:11:37.181Z,1761538297.181 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:37.181Z,1761538297.181 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:37.182Z,1761538297.182 [DAT](INFO): direction in FSK: [0.978509,0.000000,0.206204] 2025-10-27T04:11:37.212Z,1761538297.212 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:37.212Z,1761538297.212 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:37.228Z,1761538297.228 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:37.228Z,1761538297.228 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:37.481Z,1761538297.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080567,0.986320,0.143808],[-0.996616,0.077353,0.027809],[0.016305,-0.145562,0.989215]] 2025-10-27T04:11:37.520Z,1761538297.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.199997 m, deltaT: 3.528313 s, deltaX: -2.500000 m, approachRate: -0.708554 m/s, rangeRepo size: 4 2025-10-27T04:11:37.522Z,1761538297.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.755150 m, bearing: 276.385210 deg, lat: 36.779397 deg, lon: -121.859554 deg, deltaT: 3.528313 s, deltaX: -2.489723 m, approachRate: -0.705641 m/s, posRepo size: 4 2025-10-27T04:11:37.523Z,1761538297.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.76 m. 2025-10-27T04:11:37.526Z,1761538297.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.755150 m, nav range: 97.189468 m, bearing: 277.234568 deg, approach rate: 0.000000 m/s, LOS rate: 0.024600 deg/s, cmd heading: 275.707880 deg, new cmd heading: 275.737002 deg. 2025-10-27T04:11:37.527Z,1761538297.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812519 target range: 99.755150 and range: 100.20 m. 2025-10-27T04:11:37.885Z,1761538297.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082905,0.986081,0.144124],[-0.996438,0.079782,0.027329],[0.015450,-0.145877,0.989182]] 2025-10-27T04:11:37.934Z,1761538297.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.76 m. 2025-10-27T04:11:37.936Z,1761538297.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.755150 m, nav range: 96.962563 m, bearing: 277.243688 deg, approach rate: -0.547242 m/s, LOS rate: 0.022047 deg/s, cmd heading: 275.737004 deg, new cmd heading: 275.764429 deg. 2025-10-27T04:11:37.937Z,1761538297.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812997 target range: 99.755150 and range: 100.20 m. 2025-10-27T04:11:38.291Z,1761538298.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085520,0.985923,0.143676],[-0.996230,0.082508,0.026802],[0.014571,-0.145426,0.989262]] 2025-10-27T04:11:38.307Z,1761538298.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:38.309Z,1761538298.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.76 m. 2025-10-27T04:11:38.312Z,1761538298.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.755150 m, nav range: 96.760712 m, bearing: 277.251525 deg, approach rate: -0.537116 m/s, LOS rate: 0.020897 deg/s, cmd heading: 275.764434 deg, new cmd heading: 275.787995 deg. 2025-10-27T04:11:38.313Z,1761538298.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813408 target range: 99.755150 and range: 100.20 m. 2025-10-27T04:11:38.424Z,1761538298.424 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:38.424Z,1761538298.424 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:38.424Z,1761538298.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:38.676Z,1761538298.676 [DAT](INFO): DAT read: user:88> 2025-10-27T04:11:38.677Z,1761538298.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496054 2025-10-27T04:11:38.697Z,1761538298.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088379,0.985724,0.143308],[-0.995992,0.085468,0.026354],[0.013729,-0.145063,0.989327]] 2025-10-27T04:11:38.759Z,1761538298.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.76 m. 2025-10-27T04:11:38.762Z,1761538298.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.755150 m, nav range: 96.527458 m, bearing: 277.261991 deg, approach rate: -0.518914 m/s, LOS rate: 0.023341 deg/s, cmd heading: 275.787985 deg, new cmd heading: 275.819460 deg. 2025-10-27T04:11:38.763Z,1761538298.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813958 target range: 99.755150 and range: 100.20 m. 2025-10-27T04:11:38.928Z,1761538298.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747236 2025-10-27T04:11:39.101Z,1761538299.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091306,0.985426,0.143523],[-0.995739,0.088479,0.025970],[0.012892,-0.145283,0.989306]] 2025-10-27T04:11:39.123Z,1761538299.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.76 m. 2025-10-27T04:11:39.126Z,1761538299.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.755150 m, nav range: 96.338623 m, bearing: 277.270169 deg, approach rate: -0.518839 m/s, LOS rate: 0.022512 deg/s, cmd heading: 275.819458 deg, new cmd heading: 275.844039 deg. 2025-10-27T04:11:39.127Z,1761538299.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814387 target range: 99.755150 and range: 100.20 m. 2025-10-27T04:11:39.181Z,1761538299.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000043 2025-10-27T04:11:39.432Z,1761538299.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251178 2025-10-27T04:11:39.502Z,1761538299.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094197,0.985148,0.143564],[-0.995478,0.091427,0.025785],[0.012276,-0.145344,0.989305]] 2025-10-27T04:11:39.548Z,1761538299.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.76 m. 2025-10-27T04:11:39.557Z,1761538299.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.755150 m, nav range: 96.132591 m, bearing: 277.278769 deg, approach rate: -0.490488 m/s, LOS rate: 0.020518 deg/s, cmd heading: 275.844047 deg, new cmd heading: 275.869903 deg. 2025-10-27T04:11:39.563Z,1761538299.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814838 target range: 99.755150 and range: 100.20 m. 2025-10-27T04:11:39.684Z,1761538299.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503324 2025-10-27T04:11:39.906Z,1761538299.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096810,0.984931,0.143313],[-0.995233,0.094089,0.025657],[0.011787,-0.145114,0.989345]] 2025-10-27T04:11:39.936Z,1761538299.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755227 2025-10-27T04:11:39.951Z,1761538299.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.76 m. 2025-10-27T04:11:39.954Z,1761538299.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.755150 m, nav range: 95.909599 m, bearing: 277.290234 deg, approach rate: -0.546799 m/s, LOS rate: 0.028178 deg/s, cmd heading: 275.869893 deg, new cmd heading: 275.904367 deg. 2025-10-27T04:11:39.954Z,1761538299.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815440 target range: 99.755150 and range: 100.20 m. 2025-10-27T04:11:40.188Z,1761538300.188 [DAT](INFO): DAT read: Rx Time:04:11:38.7683 2025-10-27T04:11:40.189Z,1761538300.189 [DAT](INFO): Rx dataTimestamp_ set to:1761538300.188375 2025-10-27T04:11:40.189Z,1761538300.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008494 2025-10-27T04:11:40.311Z,1761538300.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099462,0.984610,0.143703],[-0.994977,0.096776,0.025578],[0.011277,-0.145525,0.989290]] 2025-10-27T04:11:40.329Z,1761538300.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:40.331Z,1761538300.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.76 m. 2025-10-27T04:11:40.334Z,1761538300.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.755150 m, nav range: 95.712967 m, bearing: 277.300072 deg, approach rate: -0.517471 m/s, LOS rate: 0.025943 deg/s, cmd heading: 275.904371 deg, new cmd heading: 275.933946 deg. 2025-10-27T04:11:40.335Z,1761538300.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815956 target range: 99.755150 and range: 100.20 m. 2025-10-27T04:11:40.440Z,1761538300.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259319 2025-10-27T04:11:40.708Z,1761538300.708 [DAT](INFO): DAT read: 04:11:38.7683 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 160,-0.37,-0.082,-1.848, 0.073,-0.225, PHS= 0.245,-1.578, 0.254, RAW= 150.2, 11.8, CAL= 150.1, 13.0, ROT= 359.9, -13.0 2025-10-27T04:11:40.710Z,1761538300.710 [DAT](INFO): got valid direction response: 04:11:38.7683 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 160,-0.37,-0.082,-1.848, 0.073,-0.225, PHS= 0.245,-1.578, 0.254, RAW= 150.2, 11.8, CAL= 150.1, 13.0, ROT= 359.9, -13.0 2025-10-27T04:11:40.715Z,1761538300.715 [DAT](INFO): DAT read: Bearing 86.9, -1.5 (Local) 2025-10-27T04:11:40.716Z,1761538300.716 [DAT](INFO): Local bearing/azimuth received: Bearing 86.9, -1.5 (Local) 2025-10-27T04:11:40.718Z,1761538300.718 [DAT](INFO): DAT read: Range 11 to 50 : 98.7 m (Round-trip 131.6 ms) speed 0.4 m/s 2025-10-27T04:11:40.719Z,1761538300.719 [DAT](INFO): DAT read: Tx time:04:11:39.8326 2025-10-27T04:11:40.720Z,1761538300.720 [DAT](INFO): Ping request sent. 2025-10-27T04:11:40.720Z,1761538300.720 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:40.720Z,1761538300.720 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:40.722Z,1761538300.722 [DAT](INFO): direction in FSK: [0.974369,-0.001701,0.224951] 2025-10-27T04:11:40.722Z,1761538300.722 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:40.722Z,1761538300.722 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:40.752Z,1761538300.752 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:40.752Z,1761538300.752 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:40.848Z,1761538300.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 98.699997 m, deltaT: 3.527857 s, deltaX: -1.500000 m, approachRate: -0.425187 m/s, rangeRepo size: 4 2025-10-27T04:11:40.850Z,1761538300.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 98.259605 m, bearing: 277.538898 deg, lat: 36.779397 deg, lon: -121.859555 deg, deltaT: 3.527857 s, deltaX: -1.495544 m, approachRate: -0.423924 m/s, posRepo size: 4 2025-10-27T04:11:40.851Z,1761538300.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m. 2025-10-27T04:11:40.857Z,1761538300.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.259605 m, nav range: 95.486847 m, bearing: 277.309383 deg, approach rate: 0.000000 m/s, LOS rate: 0.025943 deg/s, cmd heading: 275.933932 deg, new cmd heading: 275.973801 deg. 2025-10-27T04:11:40.858Z,1761538300.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816651 target range: 98.259605 and range: 98.70 m. 2025-10-27T04:11:41.122Z,1761538301.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103626,0.984000,0.144934],[-0.994559,0.100949,0.025725],[0.010682,-0.146811,0.989107]] 2025-10-27T04:11:41.140Z,1761538301.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m. 2025-10-27T04:11:41.144Z,1761538301.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.259605 m, nav range: 95.317291 m, bearing: 277.316706 deg, approach rate: -0.570175 m/s, LOS rate: 0.024669 deg/s, cmd heading: 275.973793 deg, new cmd heading: 275.995801 deg. 2025-10-27T04:11:41.145Z,1761538301.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817036 target range: 98.259605 and range: 98.70 m. 2025-10-27T04:11:41.518Z,1761538301.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104987,0.983828,0.145120],[-0.994416,0.102290,0.025941],[0.010677,-0.147033,0.989074]] 2025-10-27T04:11:41.570Z,1761538301.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m. 2025-10-27T04:11:41.573Z,1761538301.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.259605 m, nav range: 95.092659 m, bearing: 277.326262 deg, approach rate: -0.522546 m/s, LOS rate: 0.022281 deg/s, cmd heading: 275.995814 deg, new cmd heading: 276.024549 deg. 2025-10-27T04:11:41.574Z,1761538301.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817537 target range: 98.259605 and range: 98.70 m. 2025-10-27T04:11:41.939Z,1761538301.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105636,0.983721,0.145375],[-0.994343,0.102870,0.026435],[0.011049,-0.147345,0.989023]] 2025-10-27T04:11:41.986Z,1761538301.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m. 2025-10-27T04:11:41.989Z,1761538301.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.259605 m, nav range: 94.842796 m, bearing: 277.334243 deg, approach rate: -0.601029 m/s, LOS rate: 0.019248 deg/s, cmd heading: 276.024555 deg, new cmd heading: 276.048561 deg. 2025-10-27T04:11:41.990Z,1761538301.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817956 target range: 98.259605 and range: 98.70 m. 2025-10-27T04:11:42.032Z,1761538302.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:11:42.342Z,1761538302.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105787,0.983674,0.145584],[-0.994321,0.102936,0.027005],[0.011578,-0.147614,0.988977]] 2025-10-27T04:11:42.369Z,1761538302.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:42.371Z,1761538302.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m. 2025-10-27T04:11:42.374Z,1761538302.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.259605 m, nav range: 94.620293 m, bearing: 277.341366 deg, approach rate: -0.577986 m/s, LOS rate: 0.018546 deg/s, cmd heading: 276.048570 deg, new cmd heading: 276.069989 deg. 2025-10-27T04:11:42.375Z,1761538302.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818330 target range: 98.259605 and range: 98.70 m. 2025-10-27T04:11:42.456Z,1761538302.456 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:42.456Z,1761538302.456 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:42.456Z,1761538302.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:42.709Z,1761538302.709 [DAT](INFO): DAT read: user:89> 2025-10-27T04:11:42.710Z,1761538302.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989504 2025-10-27T04:11:42.755Z,1761538302.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105652,0.983712,0.145424],[-0.994329,0.102719,0.027551],[0.012164,-0.147510,0.988986]] 2025-10-27T04:11:42.764Z,1761538302.764 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 95.24, 86.02, 85.00 2025-10-27T04:11:42.800Z,1761538302.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m. 2025-10-27T04:11:42.803Z,1761538302.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.259605 m, nav range: 94.369888 m, bearing: 277.349443 deg, approach rate: -0.583802 m/s, LOS rate: 0.018880 deg/s, cmd heading: 276.069990 deg, new cmd heading: 276.094284 deg. 2025-10-27T04:11:42.808Z,1761538302.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818754 target range: 98.259605 and range: 98.70 m. 2025-10-27T04:11:42.960Z,1761538302.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240051 2025-10-27T04:11:43.036Z,1761538303.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:11:43.150Z,1761538303.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104764,0.983822,0.145321],[-0.994410,0.101697,0.028397],[0.013159,-0.147484,0.988977]] 2025-10-27T04:11:43.168Z,1761538303.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m. 2025-10-27T04:11:43.191Z,1761538303.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.259605 m, nav range: 94.138565 m, bearing: 277.357067 deg, approach rate: -0.628118 m/s, LOS rate: 0.020755 deg/s, cmd heading: 276.094278 deg, new cmd heading: 276.117209 deg. 2025-10-27T04:11:43.192Z,1761538303.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819154 target range: 98.259605 and range: 98.70 m. 2025-10-27T04:11:43.212Z,1761538303.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492468 2025-10-27T04:11:43.464Z,1761538303.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744127 2025-10-27T04:11:43.561Z,1761538303.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103328,0.983993,0.145196],[-0.994542,0.100088,0.029465],[0.014461,-0.147448,0.988964]] 2025-10-27T04:11:43.582Z,1761538303.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m. 2025-10-27T04:11:43.585Z,1761538303.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.259605 m, nav range: 93.891899 m, bearing: 277.365457 deg, approach rate: -0.595501 m/s, LOS rate: 0.020308 deg/s, cmd heading: 276.117200 deg, new cmd heading: 276.142435 deg. 2025-10-27T04:11:43.586Z,1761538303.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819595 target range: 98.259605 and range: 98.70 m. 2025-10-27T04:11:43.720Z,1761538303.720 [DAT](INFO): DAT read: Rx Time:04:11:42.3653 2025-10-27T04:11:43.721Z,1761538303.721 [DAT](INFO): Rx dataTimestamp_ set to:1761538303.720384 2025-10-27T04:11:43.725Z,1761538303.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002969 2025-10-27T04:11:43.958Z,1761538303.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101988,0.984234,0.144504],[-0.994663,0.098614,0.030344],[0.015615,-0.146827,0.989039]] 2025-10-27T04:11:43.968Z,1761538303.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248117 2025-10-27T04:11:44.010Z,1761538304.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.26 m. 2025-10-27T04:11:44.013Z,1761538304.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.259605 m, nav range: 93.600883 m, bearing: 277.369657 deg, approach rate: -0.680111 m/s, LOS rate: 0.009846 deg/s, cmd heading: 276.142444 deg, new cmd heading: 276.155083 deg. 2025-10-27T04:11:44.014Z,1761538304.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819816 target range: 98.259605 and range: 98.70 m. 2025-10-27T04:11:44.233Z,1761538304.233 [DAT](INFO): DAT read: 04:11:42.3653 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.10, 2.351, 0.610, 2.510, 2.219, PHS= 0.234,-1.565, 0.247, RAW= 150.4, 12.0, CAL= 150.3, 13.2, ROT= 359.7, -13.2 2025-10-27T04:11:44.234Z,1761538304.234 [DAT](INFO): got valid direction response: 04:11:42.3653 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.10, 2.351, 0.610, 2.510, 2.219, PHS= 0.234,-1.565, 0.247, RAW= 150.4, 12.0, CAL= 150.3, 13.2, ROT= 359.7, -13.2 2025-10-27T04:11:44.270Z,1761538304.270 [DAT](INFO): DAT read: Bearing 87.7, -1.4 (Local) 2025-10-27T04:11:44.270Z,1761538304.270 [DAT](INFO): Local bearing/azimuth received: Bearing 87.7, -1.4 (Local) 2025-10-27T04:11:44.273Z,1761538304.273 [DAT](INFO): DAT read: Range 11 to 50 : 96.4 m (Round-trip 128.6 ms) speed 0.7 m/s 2025-10-27T04:11:44.276Z,1761538304.276 [DAT](INFO): DAT read: user:90>Tx time:04:11:43.4310 2025-10-27T04:11:44.277Z,1761538304.277 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:44.278Z,1761538304.278 [DAT](INFO): direction in FSK: [0.973566,-0.005098,0.228351] 2025-10-27T04:11:44.279Z,1761538304.279 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:44.282Z,1761538304.282 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:44.282Z,1761538304.282 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:44.282Z,1761538304.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:44.362Z,1761538304.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100152,0.984309,0.145280],[-0.994830,0.096598,0.031331],[0.016806,-0.147667,0.988894]] 2025-10-27T04:11:44.431Z,1761538304.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 96.400002 m, deltaT: 3.530337 s, deltaX: -2.299995 m, approachRate: -0.651495 m/s, rangeRepo size: 4 2025-10-27T04:11:44.433Z,1761538304.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.971588 m, bearing: 277.443152 deg, lat: 36.779398 deg, lon: -121.859554 deg, deltaT: 3.530337 s, deltaX: -2.288017 m, approachRate: -0.648102 m/s, posRepo size: 4 2025-10-27T04:11:44.434Z,1761538304.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.97 m. 2025-10-27T04:11:44.440Z,1761538304.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.971588 m, nav range: 93.307625 m, bearing: 277.426539 deg, approach rate: 0.000000 m/s, LOS rate: 0.009846 deg/s, cmd heading: 276.155094 deg, new cmd heading: 276.167382 deg. 2025-10-27T04:11:44.441Z,1761538304.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820030 target range: 95.971588 and range: 96.40 m. 2025-10-27T04:11:44.472Z,1761538304.472 [DAT](INFO): DAT read: 2025-10-27T04:11:44.472Z,1761538304.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752584 2025-10-27T04:11:44.730Z,1761538304.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.009277 2025-10-27T04:11:44.792Z,1761538304.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098067,0.984561,0.144992],[-0.995012,0.094324,0.032484],[0.018306,-0.147455,0.988899]] 2025-10-27T04:11:44.834Z,1761538304.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:44.837Z,1761538304.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.97 m. 2025-10-27T04:11:44.839Z,1761538304.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.971588 m, nav range: 93.009422 m, bearing: 277.432226 deg, approach rate: -0.726735 m/s, LOS rate: 0.013902 deg/s, cmd heading: 276.167388 deg, new cmd heading: 276.184502 deg. 2025-10-27T04:11:44.840Z,1761538304.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820329 target range: 95.971588 and range: 96.40 m. 2025-10-27T04:11:44.976Z,1761538304.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.256445 2025-10-27T04:11:45.196Z,1761538305.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095487,0.984579,0.146584],[-0.995240,0.091548,0.033406],[0.019471,-0.149076,0.988634]] 2025-10-27T04:11:45.215Z,1761538305.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.97 m. 2025-10-27T04:11:45.218Z,1761538305.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.971588 m, nav range: 92.744675 m, bearing: 277.437728 deg, approach rate: -0.700163 m/s, LOS rate: 0.014593 deg/s, cmd heading: 276.184491 deg, new cmd heading: 276.201045 deg. 2025-10-27T04:11:45.219Z,1761538305.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820618 target range: 95.971588 and range: 96.40 m. 2025-10-27T04:11:45.228Z,1761538305.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.508127 2025-10-27T04:11:45.480Z,1761538305.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.760140 2025-10-27T04:11:45.598Z,1761538305.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093627,0.984410,0.148901],[-0.995396,0.089473,0.034366],[0.020508,-0.151433,0.988255]] 2025-10-27T04:11:45.638Z,1761538305.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.97 m. 2025-10-27T04:11:45.642Z,1761538305.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.971588 m, nav range: 92.448364 m, bearing: 277.444266 deg, approach rate: -0.699510 m/s, LOS rate: 0.015483 deg/s, cmd heading: 276.201047 deg, new cmd heading: 276.220724 deg. 2025-10-27T04:11:45.643Z,1761538305.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820961 target range: 95.971588 and range: 96.40 m. 2025-10-27T04:11:45.735Z,1761538305.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.014740 2025-10-27T04:11:45.984Z,1761538305.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.264023 2025-10-27T04:11:46.001Z,1761538306.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092476,0.984519,0.148898],[-0.995483,0.088191,0.035145],[0.021469,-0.151475,0.988228]] 2025-10-27T04:11:46.087Z,1761538306.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.97 m. 2025-10-27T04:11:46.090Z,1761538306.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.971588 m, nav range: 92.153625 m, bearing: 277.450800 deg, approach rate: -0.663164 m/s, LOS rate: 0.014749 deg/s, cmd heading: 276.220718 deg, new cmd heading: 276.240383 deg. 2025-10-27T04:11:46.090Z,1761538306.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821304 target range: 95.971588 and range: 96.40 m. 2025-10-27T04:11:46.236Z,1761538306.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.516139 2025-10-27T04:11:46.406Z,1761538306.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091369,0.984634,0.148824],[-0.995567,0.086972,0.035804],[0.022311,-0.151435,0.988215]] 2025-10-27T04:11:46.433Z,1761538306.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.97 m. 2025-10-27T04:11:46.436Z,1761538306.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.971588 m, nav range: 91.901230 m, bearing: 277.456603 deg, approach rate: -0.719642 m/s, LOS rate: 0.016593 deg/s, cmd heading: 276.240389 deg, new cmd heading: 276.257848 deg. 2025-10-27T04:11:46.437Z,1761538306.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821609 target range: 95.971588 and range: 96.40 m. 2025-10-27T04:11:46.489Z,1761538306.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.768861 2025-10-27T04:11:46.743Z,1761538306.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.022425 2025-10-27T04:11:46.809Z,1761538306.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090896,0.984548,0.149674],[-0.995602,0.086414,0.036194],[0.022701,-0.152306,0.988073]] 2025-10-27T04:11:46.856Z,1761538306.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:46.858Z,1761538306.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.97 m. 2025-10-27T04:11:46.860Z,1761538306.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.971588 m, nav range: 91.631142 m, bearing: 277.463387 deg, approach rate: -0.636744 m/s, LOS rate: 0.016040 deg/s, cmd heading: 276.257847 deg, new cmd heading: 276.278258 deg. 2025-10-27T04:11:46.861Z,1761538306.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821965 target range: 95.971588 and range: 96.40 m. 2025-10-27T04:11:46.994Z,1761538306.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.273845 2025-10-27T04:11:47.215Z,1761538307.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090687,0.984511,0.150043],[-0.995616,0.086163,0.036397],[0.022905,-0.152686,0.988009]] 2025-10-27T04:11:47.242Z,1761538307.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.97 m. 2025-10-27T04:11:47.244Z,1761538307.244 [DAT](INFO): DAT read: Rx Time:04:11:45.9602 2025-10-27T04:11:47.245Z,1761538307.245 [DAT](INFO): Rx dataTimestamp_ set to:1761538307.244301 2025-10-27T04:11:47.245Z,1761538307.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.525306 2025-10-27T04:11:47.248Z,1761538307.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.971588 m, nav range: 91.385269 m, bearing: 277.469627 deg, approach rate: -0.638816 m/s, LOS rate: 0.016256 deg/s, cmd heading: 276.278256 deg, new cmd heading: 276.297026 deg. 2025-10-27T04:11:47.249Z,1761538307.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822293 target range: 95.971588 and range: 96.40 m. 2025-10-27T04:11:47.496Z,1761538307.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.776046 2025-10-27T04:11:47.701Z,1761538307.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.97 m. 2025-10-27T04:11:47.720Z,1761538307.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.971588 m, nav range: 91.104767 m, bearing: 277.476787 deg, approach rate: -0.611568 m/s, LOS rate: 0.015658 deg/s, cmd heading: 276.297025 deg, new cmd heading: 276.318571 deg. 2025-10-27T04:11:47.722Z,1761538307.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822669 target range: 95.971588 and range: 96.40 m. 2025-10-27T04:11:47.751Z,1761538307.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.030640 2025-10-27T04:11:48.006Z,1761538308.006 [DAT](INFO): DAT read: 04:11:45.9602 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413, 0.17, 1.709,-0.060, 1.868, 1.551, PHS= 0.260,-1.566, 0.274, RAW= 150.4, 11.3, CAL= 150.2, 12.4, ROT= 359.8, -12.4 2025-10-27T04:11:48.007Z,1761538308.007 [DAT](INFO): got valid direction response: 04:11:45.9602 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413, 0.17, 1.709,-0.060, 1.868, 1.551, PHS= 0.260,-1.566, 0.274, RAW= 150.4, 11.3, CAL= 150.2, 12.4, ROT= 359.8, -12.4 2025-10-27T04:11:48.008Z,1761538308.008 [DAT](INFO): DAT read: Bearing 87.1, -1.1 (Local) 2025-10-27T04:11:48.008Z,1761538308.008 [DAT](INFO): Local bearing/azimuth received: Bearing 87.1, -1.1 (Local) 2025-10-27T04:11:48.009Z,1761538308.009 [DAT](INFO): DAT read: Range 11 to 50 : 93.7 m (Round-trip 125.0 ms) speed 0.4 m/s 2025-10-27T04:11:48.010Z,1761538308.010 [DAT](INFO): DAT read: user:91>Tx time:04:11:47.0310 2025-10-27T04:11:48.015Z,1761538308.015 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:48.020Z,1761538308.020 [DAT](INFO): direction in FSK: [0.976666,-0.003409,0.214735] 2025-10-27T04:11:48.020Z,1761538308.020 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:48.028Z,1761538308.028 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:48.028Z,1761538308.028 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:48.029Z,1761538308.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:48.116Z,1761538308.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091481,0.984273,0.151125],[-0.995544,0.086911,0.036583],[0.022873,-0.153798,0.987838]] 2025-10-27T04:11:48.194Z,1761538308.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.699997 m, deltaT: 3.777357 s, deltaX: -2.700005 m, approachRate: -0.714787 m/s, rangeRepo size: 4 2025-10-27T04:11:48.206Z,1761538308.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.282837 m, bearing: 276.999133 deg, lat: 36.779392 deg, lon: -121.859554 deg, deltaT: 3.777357 s, deltaX: -2.688751 m, approachRate: -0.711808 m/s, posRepo size: 4 2025-10-27T04:11:48.206Z,1761538308.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.28 m. 2025-10-27T04:11:48.213Z,1761538308.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.282837 m, nav range: 90.684547 m, bearing: 277.070303 deg, approach rate: 0.000000 m/s, LOS rate: 0.015658 deg/s, cmd heading: 276.318581 deg, new cmd heading: 276.341695 deg. 2025-10-27T04:11:48.214Z,1761538308.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823072 target range: 93.282837 and range: 93.70 m. 2025-10-27T04:11:48.253Z,1761538308.253 [DAT](INFO): DAT read: 2025-10-27T04:11:48.254Z,1761538308.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.533897 2025-10-27T04:11:48.477Z,1761538308.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092411,0.984093,0.151725],[-0.995465,0.087851,0.036500],[0.022590,-0.154409,0.987749]] 2025-10-27T04:11:48.495Z,1761538308.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.28 m. 2025-10-27T04:11:48.498Z,1761538308.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.282837 m, nav range: 90.499580 m, bearing: 277.075259 deg, approach rate: -0.613581 m/s, LOS rate: 0.016474 deg/s, cmd heading: 276.341695 deg, new cmd heading: 276.356593 deg. 2025-10-27T04:11:48.498Z,1761538308.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823332 target range: 93.282837 and range: 93.70 m. 2025-10-27T04:11:48.504Z,1761538308.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.784186 2025-10-27T04:11:48.759Z,1761538308.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.038786 2025-10-27T04:11:48.931Z,1761538308.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:48.933Z,1761538308.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.28 m. 2025-10-27T04:11:48.936Z,1761538308.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.282837 m, nav range: 90.256691 m, bearing: 277.087227 deg, approach rate: -0.553638 m/s, LOS rate: 0.027353 deg/s, cmd heading: 276.356585 deg, new cmd heading: 276.392585 deg. 2025-10-27T04:11:48.937Z,1761538308.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823961 target range: 93.282837 and range: 93.70 m. 2025-10-27T04:11:49.008Z,1761538309.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.288299 2025-10-27T04:11:49.260Z,1761538309.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.540004 2025-10-27T04:11:49.325Z,1761538309.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.28 m. 2025-10-27T04:11:49.327Z,1761538309.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.282837 m, nav range: 90.039803 m, bearing: 277.097968 deg, approach rate: -0.554414 m/s, LOS rate: 0.027523 deg/s, cmd heading: 276.392593 deg, new cmd heading: 276.424895 deg. 2025-10-27T04:11:49.328Z,1761538309.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824524 target range: 93.282837 and range: 93.70 m. 2025-10-27T04:11:49.515Z,1761538309.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.794899 2025-10-27T04:11:49.686Z,1761538309.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097665,0.983838,0.150082],[-0.995006,0.093407,0.035182],[0.020594,-0.152769,0.988047]] 2025-10-27T04:11:49.714Z,1761538309.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.28 m. 2025-10-27T04:11:49.733Z,1761538309.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.282837 m, nav range: 89.826469 m, bearing: 277.107871 deg, approach rate: -0.548588 m/s, LOS rate: 0.025525 deg/s, cmd heading: 276.424886 deg, new cmd heading: 276.454665 deg. 2025-10-27T04:11:49.734Z,1761538309.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825044 target range: 93.282837 and range: 93.70 m. 2025-10-27T04:11:49.767Z,1761538309.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.046904 2025-10-27T04:11:50.017Z,1761538310.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.296545 2025-10-27T04:11:50.137Z,1761538310.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100004,0.983683,0.149556],[-0.994789,0.095852,0.034739],[0.019837,-0.152251,0.988143]] 2025-10-27T04:11:50.176Z,1761538310.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.28 m. 2025-10-27T04:11:50.207Z,1761538310.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.282837 m, nav range: 89.581490 m, bearing: 277.117111 deg, approach rate: -0.529421 m/s, LOS rate: 0.020023 deg/s, cmd heading: 276.454666 deg, new cmd heading: 276.482462 deg. 2025-10-27T04:11:50.208Z,1761538310.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825529 target range: 93.282837 and range: 93.70 m. 2025-10-27T04:11:50.268Z,1761538310.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.548232 2025-10-27T04:11:50.522Z,1761538310.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.801595 2025-10-27T04:11:50.552Z,1761538310.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102050,0.983442,0.149757],[-0.994594,0.097967,0.034414],[0.019173,-0.152459,0.988124]] 2025-10-27T04:11:50.570Z,1761538310.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.28 m. 2025-10-27T04:11:50.573Z,1761538310.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.282837 m, nav range: 89.375114 m, bearing: 277.124660 deg, approach rate: -0.523904 m/s, LOS rate: 0.019210 deg/s, cmd heading: 276.482451 deg, new cmd heading: 276.505153 deg. 2025-10-27T04:11:50.574Z,1761538310.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825925 target range: 93.282837 and range: 93.70 m. 2025-10-27T04:11:50.775Z,1761538310.775 [DAT](INFO): Reached modem response timeout 2025-10-27T04:11:50.776Z,1761538310.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:50.777Z,1761538310.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:50.934Z,1761538310.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104119,0.983226,0.149756],[-0.994392,0.100104,0.034126],[0.018563,-0.152469,0.988134]] 2025-10-27T04:11:50.969Z,1761538310.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:50.987Z,1761538310.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.28 m. 2025-10-27T04:11:50.990Z,1761538310.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.282837 m, nav range: 89.169060 m, bearing: 277.132007 deg, approach rate: -0.513798 m/s, LOS rate: 0.018362 deg/s, cmd heading: 276.505155 deg, new cmd heading: 276.527247 deg. 2025-10-27T04:11:50.995Z,1761538310.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826311 target range: 93.282837 and range: 93.70 m. 2025-10-27T04:11:51.025Z,1761538311.025 [DAT](INFO): DAT read: Rx Time:04:11:49.5579 2025-10-27T04:11:51.026Z,1761538311.026 [DAT](INFO): Rx dataTimestamp_ set to:1761538311.025159 2025-10-27T04:11:51.027Z,1761538311.027 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:51.276Z,1761538311.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:11:51.337Z,1761538311.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106483,0.982987,0.149661],[-0.994151,0.102522,0.033960],[0.018039,-0.152402,0.988154]] 2025-10-27T04:11:51.356Z,1761538311.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.28 m. 2025-10-27T04:11:51.361Z,1761538311.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.282837 m, nav range: 88.970909 m, bearing: 277.138801 deg, approach rate: -0.514483 m/s, LOS rate: 0.017677 deg/s, cmd heading: 276.527257 deg, new cmd heading: 276.547682 deg. 2025-10-27T04:11:51.381Z,1761538311.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826668 target range: 93.282837 and range: 93.70 m. 2025-10-27T04:11:51.538Z,1761538311.538 [DAT](INFO): DAT read: 04:11:49.5579 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.02, 1.611,-0.100, 1.789, 1.517, PHS= 0.196,-1.572, 0.228, RAW= 150.9, 12.8, CAL= 150.9, 14.2, ROT= 359.1, -14.2 2025-10-27T04:11:51.541Z,1761538311.541 [DAT](INFO): got valid direction response: 04:11:49.5579 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.02, 1.611,-0.100, 1.789, 1.517, PHS= 0.196,-1.572, 0.228, RAW= 150.9, 12.8, CAL= 150.9, 14.2, ROT= 359.1, -14.2 2025-10-27T04:11:51.542Z,1761538311.542 [DAT](INFO): DAT read: Bearing 89.2, -1.7 (Local) 2025-10-27T04:11:51.544Z,1761538311.544 [DAT](INFO): Local bearing/azimuth received: Bearing 89.2, -1.7 (Local) 2025-10-27T04:11:51.546Z,1761538311.546 [DAT](INFO): DAT read: Range 11 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.6 m/s 2025-10-27T04:11:51.571Z,1761538311.571 [DAT](INFO): DAT read: user:92> 2025-10-27T04:11:51.572Z,1761538311.572 [DAT](INFO): DAT read: Tx time:04:11:50.6310 2025-10-27T04:11:51.572Z,1761538311.572 [DAT](INFO): Ping request sent. 2025-10-27T04:11:51.573Z,1761538311.573 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:51.573Z,1761538311.573 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:51.574Z,1761538311.574 [DAT](INFO): direction in FSK: [0.969326,-0.015227,0.245307] 2025-10-27T04:11:51.574Z,1761538311.574 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:51.574Z,1761538311.574 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:51.578Z,1761538311.578 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:51.578Z,1761538311.578 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:51.750Z,1761538311.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109000,0.982957,0.148039],[-0.993885,0.105119,0.033810],[0.017672,-0.150819,0.988403]] 2025-10-27T04:11:51.860Z,1761538311.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.000000 m, deltaT: 3.528557 s, deltaX: -1.699997 m, approachRate: -0.481782 m/s, rangeRepo size: 4 2025-10-27T04:11:51.862Z,1761538311.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 91.592293 m, bearing: 277.561862 deg, lat: 36.779397 deg, lon: -121.859554 deg, deltaT: 3.528557 s, deltaX: -1.690544 m, approachRate: -0.479104 m/s, posRepo size: 4 2025-10-27T04:11:51.863Z,1761538311.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T04:11:51.869Z,1761538311.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.592293 m, nav range: 88.816597 m, bearing: 277.526100 deg, approach rate: 0.000000 m/s, LOS rate: 0.017677 deg/s, cmd heading: 276.547693 deg, new cmd heading: 276.574360 deg. 2025-10-27T04:11:51.870Z,1761538311.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827133 target range: 91.592293 and range: 92.00 m. 2025-10-27T04:11:52.236Z,1761538312.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T04:11:52.239Z,1761538312.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.592293 m, nav range: 88.586250 m, bearing: 277.531883 deg, approach rate: -0.611135 m/s, LOS rate: 0.015384 deg/s, cmd heading: 276.574358 deg, new cmd heading: 276.591753 deg. 2025-10-27T04:11:52.240Z,1761538312.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827437 target range: 91.592293 and range: 92.00 m. 2025-10-27T04:11:52.584Z,1761538312.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112456,0.982805,0.146452],[-0.993504,0.108624,0.033932],[0.017440,-0.149317,0.988636]] 2025-10-27T04:11:52.604Z,1761538312.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T04:11:52.607Z,1761538312.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.592293 m, nav range: 88.391029 m, bearing: 277.536363 deg, approach rate: -0.530764 m/s, LOS rate: 0.012207 deg/s, cmd heading: 276.591762 deg, new cmd heading: 276.605231 deg. 2025-10-27T04:11:52.608Z,1761538312.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827672 target range: 91.592293 and range: 92.00 m. 2025-10-27T04:11:52.986Z,1761538312.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113818,0.982718,0.145982],[-0.993349,0.109993,0.034035],[0.017390,-0.148885,0.988702]] 2025-10-27T04:11:53.046Z,1761538313.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:53.080Z,1761538313.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T04:11:53.083Z,1761538313.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.592293 m, nav range: 88.144806 m, bearing: 277.540474 deg, approach rate: -0.517270 m/s, LOS rate: 0.008661 deg/s, cmd heading: 276.605231 deg, new cmd heading: 276.617600 deg. 2025-10-27T04:11:53.092Z,1761538313.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827888 target range: 91.592293 and range: 92.00 m. 2025-10-27T04:11:53.292Z,1761538313.292 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:53.292Z,1761538313.292 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:53.292Z,1761538313.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:53.412Z,1761538313.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114890,0.982426,0.147106],[-0.993225,0.111005,0.034377],[0.017443,-0.150059,0.988523]] 2025-10-27T04:11:53.430Z,1761538313.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T04:11:53.433Z,1761538313.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.592293 m, nav range: 87.923927 m, bearing: 277.544032 deg, approach rate: -0.631406 m/s, LOS rate: 0.010196 deg/s, cmd heading: 276.617607 deg, new cmd heading: 276.628307 deg. 2025-10-27T04:11:53.434Z,1761538313.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828075 target range: 91.592293 and range: 92.00 m. 2025-10-27T04:11:53.546Z,1761538313.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972918 2025-10-27T04:11:53.796Z,1761538313.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223392 2025-10-27T04:11:53.829Z,1761538313.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115723,0.982306,0.147251],[-0.993124,0.111788,0.034750],[0.017674,-0.150260,0.988488]] 2025-10-27T04:11:53.906Z,1761538313.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T04:11:53.913Z,1761538313.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.592293 m, nav range: 87.659370 m, bearing: 277.548173 deg, approach rate: -0.554865 m/s, LOS rate: 0.008711 deg/s, cmd heading: 276.628317 deg, new cmd heading: 276.640776 deg. 2025-10-27T04:11:53.914Z,1761538313.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828292 target range: 91.592293 and range: 92.00 m. 2025-10-27T04:11:54.049Z,1761538314.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476244 2025-10-27T04:11:54.300Z,1761538314.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727438 2025-10-27T04:11:54.314Z,1761538314.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T04:11:54.317Z,1761538314.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.592293 m, nav range: 87.419128 m, bearing: 277.549793 deg, approach rate: -0.589189 m/s, LOS rate: 0.003984 deg/s, cmd heading: 276.640775 deg, new cmd heading: 276.645649 deg. 2025-10-27T04:11:54.318Z,1761538314.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828377 target range: 91.592293 and range: 92.00 m. 2025-10-27T04:11:54.553Z,1761538314.553 [DAT](INFO): DAT read: Rx Time:04:11:53.1552 2025-10-27T04:11:54.553Z,1761538314.553 [DAT](INFO): Rx dataTimestamp_ set to:1761538314.552988 2025-10-27T04:11:54.554Z,1761538314.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981285 2025-10-27T04:11:54.663Z,1761538314.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116243,0.982292,0.146937],[-0.993041,0.112130,0.036004],[0.018891,-0.150100,0.988490]] 2025-10-27T04:11:54.720Z,1761538314.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T04:11:54.725Z,1761538314.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.592293 m, nav range: 87.197144 m, bearing: 277.551221 deg, approach rate: -0.547041 m/s, LOS rate: 0.003527 deg/s, cmd heading: 276.645638 deg, new cmd heading: 276.649932 deg. 2025-10-27T04:11:54.726Z,1761538314.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828452 target range: 91.592293 and range: 92.00 m. 2025-10-27T04:11:54.804Z,1761538314.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231956 2025-10-27T04:11:55.062Z,1761538315.062 [DAT](INFO): DAT read: 04:11:53.1552 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.25,-3.130, 1.488,-2.938, 3.112, PHS= 0.143,-1.579, 0.189, RAW= 151.3, 14.2, CAL= 151.5, 15.9, ROT= 358.5, -15.9 2025-10-27T04:11:55.063Z,1761538315.063 [DAT](INFO): got valid direction response: 04:11:53.1552 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.25,-3.130, 1.488,-2.938, 3.112, PHS= 0.143,-1.579, 0.189, RAW= 151.3, 14.2, CAL= 151.5, 15.9, ROT= 358.5, -15.9 2025-10-27T04:11:55.064Z,1761538315.064 [DAT](INFO): DAT read: Bearing 91.7, -2.5 (Local) 2025-10-27T04:11:55.064Z,1761538315.064 [DAT](INFO): Local bearing/azimuth received: Bearing 91.7, -2.5 (Local) 2025-10-27T04:11:55.066Z,1761538315.066 [DAT](INFO): DAT read: Range 11 to 50 : 90.0 m (Round-trip 120.1 ms) speed 0.5 m/s 2025-10-27T04:11:55.066Z,1761538315.066 [DAT](INFO): DAT read: user:93> 2025-10-27T04:11:55.067Z,1761538315.067 [DAT](INFO): DAT read: Tx time:04:11:54.2310 2025-10-27T04:11:55.067Z,1761538315.067 [DAT](INFO): Ping request sent. 2025-10-27T04:11:55.067Z,1761538315.067 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:55.068Z,1761538315.068 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:55.069Z,1761538315.069 [DAT](INFO): direction in FSK: [0.961412,-0.025176,0.273959] 2025-10-27T04:11:55.069Z,1761538315.069 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:55.069Z,1761538315.069 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:55.114Z,1761538315.114 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:55.114Z,1761538315.114 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:55.228Z,1761538315.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115807,0.982287,0.147316],[-0.993081,0.111594,0.036572],[0.019485,-0.150532,0.988413]] 2025-10-27T04:11:55.319Z,1761538315.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.000000 m, deltaT: 3.527467 s, deltaX: -2.000000 m, approachRate: -0.566979 m/s, rangeRepo size: 4 2025-10-27T04:11:55.321Z,1761538315.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.600883 m, bearing: 277.631881 deg, lat: 36.779397 deg, lon: -121.859552 deg, deltaT: 3.527467 s, deltaX: -1.991409 m, approachRate: -0.564544 m/s, posRepo size: 4 2025-10-27T04:11:55.322Z,1761538315.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m. 2025-10-27T04:11:55.325Z,1761538315.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.600883 m, nav range: 86.669228 m, bearing: 277.568355 deg, approach rate: 0.000000 m/s, LOS rate: 0.003527 deg/s, cmd heading: 276.649928 deg, new cmd heading: 276.656217 deg. 2025-10-27T04:11:55.326Z,1761538315.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828562 target range: 89.600883 and range: 90.00 m. 2025-10-27T04:11:55.770Z,1761538315.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114857,0.982391,0.147366],[-0.993176,0.110540,0.037183],[0.020238,-0.150631,0.988383]] 2025-10-27T04:11:55.787Z,1761538315.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:55.789Z,1761538315.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m. 2025-10-27T04:11:55.792Z,1761538315.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.600883 m, nav range: 86.380127 m, bearing: 277.570066 deg, approach rate: -0.609251 m/s, LOS rate: 0.003619 deg/s, cmd heading: 276.656211 deg, new cmd heading: 276.661363 deg. 2025-10-27T04:11:55.793Z,1761538315.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828652 target range: 89.600883 and range: 90.00 m. 2025-10-27T04:11:55.812Z,1761538315.812 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:11:55.812Z,1761538315.812 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:11:55.812Z,1761538315.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:11:56.064Z,1761538316.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996380 2025-10-27T04:11:56.223Z,1761538316.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113651,0.982526,0.147396],[-0.993299,0.109234,0.037748],[0.020988,-0.150699,0.988357]] 2025-10-27T04:11:56.300Z,1761538316.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m. 2025-10-27T04:11:56.302Z,1761538316.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.600883 m, nav range: 86.074974 m, bearing: 277.570227 deg, approach rate: -0.597180 m/s, LOS rate: 0.000315 deg/s, cmd heading: 276.661375 deg, new cmd heading: 276.661858 deg. 2025-10-27T04:11:56.304Z,1761538316.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828660 target range: 89.600883 and range: 90.00 m. 2025-10-27T04:11:56.316Z,1761538316.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248559 2025-10-27T04:11:56.569Z,1761538316.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501726 2025-10-27T04:11:56.638Z,1761538316.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112315,0.982481,0.148716],[-0.993434,0.107745,0.038464],[0.021767,-0.152059,0.988132]] 2025-10-27T04:11:56.665Z,1761538316.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m. 2025-10-27T04:11:56.668Z,1761538316.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.600883 m, nav range: 85.839806 m, bearing: 277.570565 deg, approach rate: -0.644581 m/s, LOS rate: 0.000930 deg/s, cmd heading: 276.661867 deg, new cmd heading: 276.662884 deg. 2025-10-27T04:11:56.669Z,1761538316.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828678 target range: 89.600883 and range: 90.00 m. 2025-10-27T04:11:56.820Z,1761538316.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752292 2025-10-27T04:11:57.045Z,1761538317.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110894,0.982451,0.149977],[-0.993574,0.106154,0.039272],[0.022662,-0.153368,0.987909]] 2025-10-27T04:11:57.072Z,1761538317.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004654 2025-10-27T04:11:57.088Z,1761538317.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m. 2025-10-27T04:11:57.119Z,1761538317.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.600883 m, nav range: 85.570297 m, bearing: 277.570955 deg, approach rate: -0.636081 m/s, LOS rate: 0.000923 deg/s, cmd heading: 276.662878 deg, new cmd heading: 276.664051 deg. 2025-10-27T04:11:57.120Z,1761538317.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828699 target range: 89.600883 and range: 90.00 m. 2025-10-27T04:11:57.325Z,1761538317.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257425 2025-10-27T04:11:57.437Z,1761538317.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109920,0.982484,0.150479],[-0.993666,0.105068,0.039850],[0.023341,-0.153906,0.987810]] 2025-10-27T04:11:57.469Z,1761538317.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m. 2025-10-27T04:11:57.473Z,1761538317.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.600883 m, nav range: 85.331490 m, bearing: 277.571459 deg, approach rate: -0.626963 m/s, LOS rate: 0.001326 deg/s, cmd heading: 276.664052 deg, new cmd heading: 276.665568 deg. 2025-10-27T04:11:57.473Z,1761538317.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828725 target range: 89.600883 and range: 90.00 m. 2025-10-27T04:11:57.576Z,1761538317.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508407 2025-10-27T04:11:57.828Z,1761538317.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760370 2025-10-27T04:11:57.843Z,1761538317.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108450,0.982463,0.151676],[-0.993805,0.103420,0.040691],[0.024291,-0.155149,0.987592]] 2025-10-27T04:11:57.940Z,1761538317.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:57.943Z,1761538317.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m. 2025-10-27T04:11:57.950Z,1761538317.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.600883 m, nav range: 85.082039 m, bearing: 277.572235 deg, approach rate: -0.526985 m/s, LOS rate: 0.001644 deg/s, cmd heading: 276.665555 deg, new cmd heading: 276.667889 deg. 2025-10-27T04:11:57.951Z,1761538317.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828765 target range: 89.600883 and range: 90.00 m. 2025-10-27T04:11:58.080Z,1761538318.080 [DAT](INFO): DAT read: Rx Time:04:11:56.7519 2025-10-27T04:11:58.081Z,1761538318.081 [DAT](INFO): Rx dataTimestamp_ set to:1761538318.080592 2025-10-27T04:11:58.081Z,1761538318.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013911 2025-10-27T04:11:58.283Z,1761538318.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105704,0.981855,0.157438],[-0.994041,0.100093,0.043175],[0.026633,-0.161064,0.986585]] 2025-10-27T04:11:58.332Z,1761538318.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264263 2025-10-27T04:11:58.342Z,1761538318.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m. 2025-10-27T04:11:58.350Z,1761538318.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.600883 m, nav range: 84.807076 m, bearing: 277.575210 deg, approach rate: -0.688512 m/s, LOS rate: 0.007474 deg/s, cmd heading: 276.667877 deg, new cmd heading: 276.676832 deg. 2025-10-27T04:11:58.351Z,1761538318.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828922 target range: 89.600883 and range: 90.00 m. 2025-10-27T04:11:58.587Z,1761538318.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518689 2025-10-27T04:11:58.682Z,1761538318.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105224,0.981848,0.157802],[-0.994076,0.099506,0.043732],[0.027236,-0.161469,0.986502]] 2025-10-27T04:11:58.734Z,1761538318.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m. 2025-10-27T04:11:58.749Z,1761538318.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.600883 m, nav range: 84.555199 m, bearing: 277.578033 deg, approach rate: -0.643145 m/s, LOS rate: 0.007230 deg/s, cmd heading: 276.676838 deg, new cmd heading: 276.685333 deg. 2025-10-27T04:11:58.750Z,1761538318.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829070 target range: 89.600883 and range: 90.00 m. 2025-10-27T04:11:58.846Z,1761538318.846 [DAT](INFO): DAT read: 04:11:56.7519 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.38,-1.815, 2.735,-1.619,-1.918, PHS= 0.205,-1.586, 0.254, RAW= 151.4, 12.4, CAL= 151.4, 13.7, ROT= 358.6, -13.7 2025-10-27T04:11:58.849Z,1761538318.849 [DAT](INFO): got valid direction response: 04:11:56.7519 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.38,-1.815, 2.735,-1.619,-1.918, PHS= 0.205,-1.586, 0.254, RAW= 151.4, 12.4, CAL= 151.4, 13.7, ROT= 358.6, -13.7 2025-10-27T04:11:58.850Z,1761538318.850 [DAT](INFO): DAT read: Bearing 90.1, -2.2 (Local) 2025-10-27T04:11:58.850Z,1761538318.850 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, -2.2 (Local) 2025-10-27T04:11:58.852Z,1761538318.852 [DAT](INFO): DAT read: Range 11 to 50 : 87.5 m (Round-trip 116.7 ms) speed 0.5 m/s 2025-10-27T04:11:58.852Z,1761538318.852 [DAT](INFO): DAT read: user:94> 2025-10-27T04:11:58.853Z,1761538318.853 [DAT](INFO): DAT read: Tx time:04:11:57.8310 2025-10-27T04:11:58.853Z,1761538318.853 [DAT](INFO): Ping request sent. 2025-10-27T04:11:58.854Z,1761538318.854 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:11:58.854Z,1761538318.854 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:11:58.855Z,1761538318.855 [DAT](INFO): direction in FSK: [0.971259,-0.023737,0.236838] 2025-10-27T04:11:58.855Z,1761538318.855 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:58.856Z,1761538318.856 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:58.868Z,1761538318.868 [DAT](INFO): publishing transmit ping time 2025-10-27T04:11:58.868Z,1761538318.868 [DAT](INFO): publishing direction and range info 2025-10-27T04:11:59.086Z,1761538319.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104859,0.981864,0.157946],[-0.994097,0.099040,0.044296],[0.027850,-0.161659,0.986454]] 2025-10-27T04:11:59.148Z,1761538319.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.500000 m, deltaT: 3.780354 s, deltaX: -2.500000 m, approachRate: -0.661314 m/s, rangeRepo size: 4 2025-10-27T04:11:59.150Z,1761538319.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.112617 m, bearing: 276.905317 deg, lat: 36.779397 deg, lon: -121.859550 deg, deltaT: 3.780354 s, deltaX: -2.488266 m, approachRate: -0.658210 m/s, posRepo size: 4 2025-10-27T04:11:59.151Z,1761538319.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.11 m. 2025-10-27T04:11:59.154Z,1761538319.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.112617 m, nav range: 84.134247 m, bearing: 277.573679 deg, approach rate: 0.000000 m/s, LOS rate: 0.007230 deg/s, cmd heading: 276.685335 deg, new cmd heading: 276.694317 deg. 2025-10-27T04:11:59.156Z,1761538319.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829227 target range: 87.112617 and range: 87.50 m. 2025-10-27T04:11:59.489Z,1761538319.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104856,0.981822,0.158209],[-0.994081,0.098931,0.044896],[0.028428,-0.161980,0.986384]] 2025-10-27T04:11:59.520Z,1761538319.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.11 m. 2025-10-27T04:11:59.525Z,1761538319.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.112617 m, nav range: 83.911613 m, bearing: 277.579262 deg, approach rate: -0.597502 m/s, LOS rate: 0.015023 deg/s, cmd heading: 276.694324 deg, new cmd heading: 276.711116 deg. 2025-10-27T04:11:59.531Z,1761538319.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829520 target range: 87.112617 and range: 87.50 m. 2025-10-27T04:11:59.898Z,1761538319.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105305,0.981966,0.157014],[-0.994016,0.099328,0.045460],[0.029044,-0.160862,0.986549]] 2025-10-27T04:11:59.974Z,1761538319.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:11:59.980Z,1761538319.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.11 m. 2025-10-27T04:11:59.988Z,1761538319.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.112617 m, nav range: 83.649368 m, bearing: 277.585799 deg, approach rate: -0.569957 m/s, LOS rate: 0.014253 deg/s, cmd heading: 276.711126 deg, new cmd heading: 276.730800 deg. 2025-10-27T04:11:59.989Z,1761538319.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829864 target range: 87.112617 and range: 87.50 m. 2025-10-27T04:12:00.096Z,1761538320.096 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:00.096Z,1761538320.096 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:00.097Z,1761538320.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:00.297Z,1761538320.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106298,0.981913,0.156676],[-0.993904,0.100290,0.045789],[0.029248,-0.160588,0.986588]] 2025-10-27T04:12:00.348Z,1761538320.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494397 2025-10-27T04:12:00.353Z,1761538320.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.11 m. 2025-10-27T04:12:00.355Z,1761538320.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.112617 m, nav range: 83.430954 m, bearing: 277.593723 deg, approach rate: -0.586948 m/s, LOS rate: 0.021349 deg/s, cmd heading: 276.730797 deg, new cmd heading: 276.754630 deg. 2025-10-27T04:12:00.356Z,1761538320.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830279 target range: 87.112617 and range: 87.50 m. 2025-10-27T04:12:00.600Z,1761538320.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746744 2025-10-27T04:12:00.717Z,1761538320.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107457,0.981757,0.156864],[-0.993777,0.101408,0.046094],[0.029346,-0.160841,0.986544]] 2025-10-27T04:12:00.738Z,1761538320.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.11 m. 2025-10-27T04:12:00.743Z,1761538320.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.112617 m, nav range: 83.219345 m, bearing: 277.601268 deg, approach rate: -0.548643 m/s, LOS rate: 0.019611 deg/s, cmd heading: 276.754621 deg, new cmd heading: 276.777313 deg. 2025-10-27T04:12:00.744Z,1761538320.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830676 target range: 87.112617 and range: 87.50 m. 2025-10-27T04:12:00.853Z,1761538320.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999021 2025-10-27T04:12:01.104Z,1761538321.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250383 2025-10-27T04:12:01.107Z,1761538321.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108343,0.981587,0.157319],[-0.993668,0.102194,0.046686],[0.029750,-0.161381,0.986444]] 2025-10-27T04:12:01.164Z,1761538321.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.11 m. 2025-10-27T04:12:01.166Z,1761538321.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.112617 m, nav range: 82.991493 m, bearing: 277.609941 deg, approach rate: -0.535631 m/s, LOS rate: 0.020444 deg/s, cmd heading: 276.777324 deg, new cmd heading: 276.803415 deg. 2025-10-27T04:12:01.167Z,1761538321.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831131 target range: 87.112617 and range: 87.50 m. 2025-10-27T04:12:01.356Z,1761538321.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502811 2025-10-27T04:12:01.516Z,1761538321.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110110,0.981600,0.156004],[-0.993450,0.103873,0.047608],[0.030528,-0.160224,0.986608]] 2025-10-27T04:12:01.553Z,1761538321.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.11 m. 2025-10-27T04:12:01.556Z,1761538321.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.112617 m, nav range: 82.783279 m, bearing: 277.617658 deg, approach rate: -0.534940 m/s, LOS rate: 0.019876 deg/s, cmd heading: 276.803416 deg, new cmd heading: 276.826625 deg. 2025-10-27T04:12:01.557Z,1761538321.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831536 target range: 87.112617 and range: 87.50 m. 2025-10-27T04:12:01.608Z,1761538321.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754526 2025-10-27T04:12:01.862Z,1761538321.862 [DAT](INFO): DAT read: Rx Time:04:12:00.3493 2025-10-27T04:12:01.863Z,1761538321.863 [DAT](INFO): Rx dataTimestamp_ set to:1761538321.862593 2025-10-27T04:12:01.864Z,1761538321.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009976 2025-10-27T04:12:01.914Z,1761538321.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111579,0.981742,0.154056],[-0.993266,0.105311,0.048288],[0.031183,-0.158406,0.986881]] 2025-10-27T04:12:01.977Z,1761538321.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.11 m. 2025-10-27T04:12:02.001Z,1761538322.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.112617 m, nav range: 82.576561 m, bearing: 277.625156 deg, approach rate: -0.495567 m/s, LOS rate: 0.018021 deg/s, cmd heading: 276.826638 deg, new cmd heading: 276.849190 deg. 2025-10-27T04:12:02.002Z,1761538322.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831930 target range: 87.112617 and range: 87.50 m. 2025-10-27T04:12:02.113Z,1761538322.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258596 2025-10-27T04:12:02.331Z,1761538322.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112826,0.981625,0.153893],[-0.993116,0.106503,0.048756],[0.031470,-0.158334,0.986884]] 2025-10-27T04:12:02.370Z,1761538322.370 [DAT](INFO): DAT read: 04:12:00.3493 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.22,-2.877, 1.672,-2.702,-3.015, PHS= 0.239,-1.551, 0.269, RAW= 150.8, 11.5, CAL= 150.7, 12.7, ROT= 359.3, -12.7 2025-10-27T04:12:02.371Z,1761538322.371 [DAT](INFO): got valid direction response: 04:12:00.3493 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.22,-2.877, 1.672,-2.702,-3.015, PHS= 0.239,-1.551, 0.269, RAW= 150.8, 11.5, CAL= 150.7, 12.7, ROT= 359.3, -12.7 2025-10-27T04:12:02.372Z,1761538322.372 [DAT](INFO): DAT read: Bearing 89.4, -1.0 (Local) 2025-10-27T04:12:02.372Z,1761538322.372 [DAT](INFO): Local bearing/azimuth received: Bearing 89.4, -1.0 (Local) 2025-10-27T04:12:02.374Z,1761538322.374 [DAT](INFO): DAT read: Range 11 to 50 : 85.5 m (Round-trip 114.1 ms) speed 0.4 m/s 2025-10-27T04:12:02.374Z,1761538322.374 [DAT](INFO): DAT read: user:95> 2025-10-27T04:12:02.375Z,1761538322.375 [DAT](INFO): DAT read: Tx time:04:12:01.4310 2025-10-27T04:12:02.375Z,1761538322.375 [DAT](INFO): Ping request sent. 2025-10-27T04:12:02.376Z,1761538322.376 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:02.376Z,1761538322.376 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:02.377Z,1761538322.377 [DAT](INFO): direction in FSK: [0.975462,-0.011918,0.219846] 2025-10-27T04:12:02.377Z,1761538322.377 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:02.377Z,1761538322.377 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:02.381Z,1761538322.381 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:02.381Z,1761538322.381 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:02.434Z,1761538322.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.500000 m, deltaT: 3.527711 s, deltaX: -2.000000 m, approachRate: -0.566940 m/s, rangeRepo size: 4 2025-10-27T04:12:02.444Z,1761538322.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.122253 m, bearing: 277.845931 deg, lat: 36.779397 deg, lon: -121.859550 deg, deltaT: 3.527711 s, deltaX: -1.990364 m, approachRate: -0.564208 m/s, posRepo size: 4 2025-10-27T04:12:02.445Z,1761538322.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.12 m. 2025-10-27T04:12:02.457Z,1761538322.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.122253 m, nav range: 82.331619 m, bearing: 277.633397 deg, approach rate: 0.000000 m/s, LOS rate: 0.018021 deg/s, cmd heading: 276.849178 deg, new cmd heading: 276.874212 deg. 2025-10-27T04:12:02.458Z,1761538322.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832366 target range: 85.122253 and range: 85.50 m. 2025-10-27T04:12:02.783Z,1761538322.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113990,0.981622,0.153047],[-0.992970,0.107626,0.049273],[0.031896,-0.157588,0.986990]] 2025-10-27T04:12:02.801Z,1761538322.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:02.803Z,1761538322.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.12 m. 2025-10-27T04:12:02.806Z,1761538322.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.122253 m, nav range: 82.123619 m, bearing: 277.640265 deg, approach rate: -0.562894 m/s, LOS rate: 0.018633 deg/s, cmd heading: 276.874204 deg, new cmd heading: 276.894859 deg. 2025-10-27T04:12:02.807Z,1761538322.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832727 target range: 85.122253 and range: 85.50 m. 2025-10-27T04:12:02.869Z,1761538322.869 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:02.869Z,1761538322.869 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:02.870Z,1761538322.870 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:03.120Z,1761538323.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744418 2025-10-27T04:12:03.186Z,1761538323.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114986,0.981608,0.152394],[-0.992843,0.108583,0.049720],[0.032258,-0.157021,0.987068]] 2025-10-27T04:12:03.238Z,1761538323.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.12 m. 2025-10-27T04:12:03.241Z,1761538323.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.122253 m, nav range: 81.897186 m, bearing: 277.645135 deg, approach rate: -0.519818 m/s, LOS rate: 0.011212 deg/s, cmd heading: 276.894858 deg, new cmd heading: 276.909509 deg. 2025-10-27T04:12:03.242Z,1761538323.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832983 target range: 85.122253 and range: 85.50 m. 2025-10-27T04:12:03.372Z,1761538323.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996242 2025-10-27T04:12:03.589Z,1761538323.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116416,0.981626,0.151188],[-0.992680,0.110073,0.049700],[0.032145,-0.155867,0.987255]] 2025-10-27T04:12:03.614Z,1761538323.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.12 m. 2025-10-27T04:12:03.617Z,1761538323.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.122253 m, nav range: 81.702240 m, bearing: 277.649154 deg, approach rate: -0.518821 m/s, LOS rate: 0.010721 deg/s, cmd heading: 276.909502 deg, new cmd heading: 276.921587 deg. 2025-10-27T04:12:03.618Z,1761538323.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833193 target range: 85.122253 and range: 85.50 m. 2025-10-27T04:12:03.624Z,1761538323.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248434 2025-10-27T04:12:03.876Z,1761538323.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500521 2025-10-27T04:12:04.053Z,1761538324.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117326,0.981825,0.149178],[-0.992574,0.111078,0.049579],[0.032108,-0.153887,0.987567]] 2025-10-27T04:12:04.117Z,1761538324.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.12 m. 2025-10-27T04:12:04.128Z,1761538324.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752200 2025-10-27T04:12:04.137Z,1761538324.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.122253 m, nav range: 81.423492 m, bearing: 277.651460 deg, approach rate: -0.554374 m/s, LOS rate: 0.004603 deg/s, cmd heading: 276.921578 deg, new cmd heading: 276.928521 deg. 2025-10-27T04:12:04.138Z,1761538324.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833314 target range: 85.122253 and range: 85.50 m. 2025-10-27T04:12:04.380Z,1761538324.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004391 2025-10-27T04:12:04.443Z,1761538324.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118336,0.981757,0.148827],[-0.992452,0.112080,0.049766],[0.032177,-0.153593,0.987610]] 2025-10-27T04:12:04.477Z,1761538324.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.12 m. 2025-10-27T04:12:04.484Z,1761538324.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.122253 m, nav range: 81.232468 m, bearing: 277.652912 deg, approach rate: -0.529860 m/s, LOS rate: 0.004037 deg/s, cmd heading: 276.928517 deg, new cmd heading: 276.932883 deg. 2025-10-27T04:12:04.485Z,1761538324.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833391 target range: 85.122253 and range: 85.50 m. 2025-10-27T04:12:04.632Z,1761538324.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256408 2025-10-27T04:12:04.878Z,1761538324.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:04.881Z,1761538324.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.12 m. 2025-10-27T04:12:04.884Z,1761538324.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508455 2025-10-27T04:12:04.885Z,1761538324.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.122253 m, nav range: 81.000336 m, bearing: 277.654686 deg, approach rate: -0.575588 m/s, LOS rate: 0.004411 deg/s, cmd heading: 276.932889 deg, new cmd heading: 276.938225 deg. 2025-10-27T04:12:04.886Z,1761538324.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833484 target range: 85.122253 and range: 85.50 m. 2025-10-27T04:12:05.136Z,1761538325.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760396 2025-10-27T04:12:05.253Z,1761538325.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119247,0.981772,0.147997],[-0.992338,0.112999,0.049964],[0.032330,-0.152821,0.987725]] 2025-10-27T04:12:05.310Z,1761538325.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.12 m. 2025-10-27T04:12:05.313Z,1761538325.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.122253 m, nav range: 80.753380 m, bearing: 277.653175 deg, approach rate: -0.574607 m/s, LOS rate: -0.003526 deg/s, cmd heading: 276.938216 deg, new cmd heading: 276.933669 deg. 2025-10-27T04:12:05.314Z,1761538325.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833405 target range: 85.122253 and range: 85.50 m. 2025-10-27T04:12:05.389Z,1761538325.389 [DAT](INFO): DAT read: Rx Time:04:12:03.9469 2025-10-27T04:12:05.389Z,1761538325.389 [DAT](INFO): Rx dataTimestamp_ set to:1761538325.389112 2025-10-27T04:12:05.390Z,1761538325.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014397 2025-10-27T04:12:05.640Z,1761538325.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264256 2025-10-27T04:12:05.662Z,1761538325.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119627,0.981740,0.147903],[-0.992291,0.113372,0.050050],[0.032368,-0.152750,0.987735]] 2025-10-27T04:12:05.681Z,1761538325.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.12 m. 2025-10-27T04:12:05.684Z,1761538325.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.122253 m, nav range: 80.540253 m, bearing: 277.651805 deg, approach rate: -0.574454 m/s, LOS rate: -0.003701 deg/s, cmd heading: 276.933681 deg, new cmd heading: 276.929561 deg. 2025-10-27T04:12:05.685Z,1761538325.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833333 target range: 85.122253 and range: 85.50 m. 2025-10-27T04:12:05.898Z,1761538325.898 [DAT](INFO): DAT read: 04:12:03.9469 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 421, 0.28,-2.048, 2.524,-1.858,-2.170, PHS= 0.224,-1.545, 0.268, RAW= 151.2, 11.7, CAL= 151.1, 13.0, ROT= 358.9, -13.0 2025-10-27T04:12:05.899Z,1761538325.899 [DAT](INFO): got valid direction response: 04:12:03.9469 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 421, 0.28,-2.048, 2.524,-1.858,-2.170, PHS= 0.224,-1.545, 0.268, RAW= 151.2, 11.7, CAL= 151.1, 13.0, ROT= 358.9, -13.0 2025-10-27T04:12:05.900Z,1761538325.900 [DAT](INFO): DAT read: Bearing 89.5, -1.1 (Local) 2025-10-27T04:12:05.900Z,1761538325.900 [DAT](INFO): Local bearing/azimuth received: Bearing 89.5, -1.1 (Local) 2025-10-27T04:12:05.902Z,1761538325.902 [DAT](INFO): DAT read: Range 11 to 50 : 83.8 m (Round-trip 111.8 ms) speed 0.5 m/s 2025-10-27T04:12:05.902Z,1761538325.902 [DAT](INFO): DAT read: user:96> 2025-10-27T04:12:05.906Z,1761538325.906 [DAT](INFO): DAT read: Tx time:04:12:05.0310 2025-10-27T04:12:05.908Z,1761538325.908 [DAT](INFO): Ping request sent. 2025-10-27T04:12:05.908Z,1761538325.908 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:05.910Z,1761538325.910 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:05.912Z,1761538325.912 [DAT](INFO): direction in FSK: [0.974190,-0.018706,0.224951] 2025-10-27T04:12:05.912Z,1761538325.912 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:05.912Z,1761538325.912 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:05.916Z,1761538325.916 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:05.916Z,1761538325.916 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:06.098Z,1761538326.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119189,0.981817,0.147744],[-0.992331,0.112888,0.050355],[0.032761,-0.152613,0.987743]] 2025-10-27T04:12:06.176Z,1761538326.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.800003 m, deltaT: 3.528157 s, deltaX: -1.699997 m, approachRate: -0.481837 m/s, rangeRepo size: 4 2025-10-27T04:12:06.178Z,1761538326.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.429276 m, bearing: 277.789470 deg, lat: 36.779397 deg, lon: -121.859550 deg, deltaT: 3.528157 s, deltaX: -1.692978 m, approachRate: -0.479848 m/s, posRepo size: 4 2025-10-27T04:12:06.178Z,1761538326.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.43 m. 2025-10-27T04:12:06.185Z,1761538326.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.429276 m, nav range: 80.253120 m, bearing: 277.676973 deg, approach rate: 0.000000 m/s, LOS rate: -0.003701 deg/s, cmd heading: 276.929555 deg, new cmd heading: 276.924074 deg. 2025-10-27T04:12:06.186Z,1761538326.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833237 target range: 83.429276 and range: 83.80 m. 2025-10-27T04:12:06.539Z,1761538326.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.43 m. 2025-10-27T04:12:06.542Z,1761538326.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.429276 m, nav range: 80.024551 m, bearing: 277.675505 deg, approach rate: -0.628082 m/s, LOS rate: -0.004045 deg/s, cmd heading: 276.924064 deg, new cmd heading: 276.919648 deg. 2025-10-27T04:12:06.543Z,1761538326.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833159 target range: 83.429276 and range: 83.80 m. 2025-10-27T04:12:06.888Z,1761538326.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117231,0.981894,0.148798],[-0.992520,0.110699,0.051476],[0.034072,-0.153720,0.987527]] 2025-10-27T04:12:06.905Z,1761538326.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:06.907Z,1761538326.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.43 m. 2025-10-27T04:12:06.910Z,1761538326.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.429276 m, nav range: 79.798256 m, bearing: 277.674367 deg, approach rate: -0.614469 m/s, LOS rate: -0.003099 deg/s, cmd heading: 276.919638 deg, new cmd heading: 276.916214 deg. 2025-10-27T04:12:06.911Z,1761538326.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833100 target range: 83.429276 and range: 83.80 m. 2025-10-27T04:12:07.152Z,1761538327.152 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:07.152Z,1761538327.152 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:07.152Z,1761538327.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:07.290Z,1761538327.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116220,0.981929,0.149357],[-0.992614,0.109558,0.052108],[0.034803,-0.154310,0.987409]] 2025-10-27T04:12:07.342Z,1761538327.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.43 m. 2025-10-27T04:12:07.345Z,1761538327.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.429276 m, nav range: 79.515533 m, bearing: 277.668983 deg, approach rate: -0.650487 m/s, LOS rate: -0.012432 deg/s, cmd heading: 276.916223 deg, new cmd heading: 276.900013 deg. 2025-10-27T04:12:07.346Z,1761538327.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832817 target range: 83.429276 and range: 83.80 m. 2025-10-27T04:12:07.404Z,1761538327.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496907 2025-10-27T04:12:07.656Z,1761538327.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748718 2025-10-27T04:12:07.721Z,1761538327.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114549,0.982083,0.149639],[-0.992772,0.107741,0.052868],[0.035799,-0.154614,0.987326]] 2025-10-27T04:12:07.749Z,1761538327.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.43 m. 2025-10-27T04:12:07.752Z,1761538327.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.429276 m, nav range: 79.251587 m, bearing: 277.664243 deg, approach rate: -0.648382 m/s, LOS rate: -0.011682 deg/s, cmd heading: 276.900022 deg, new cmd heading: 276.885755 deg. 2025-10-27T04:12:07.753Z,1761538327.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832568 target range: 83.429276 and range: 83.80 m. 2025-10-27T04:12:07.908Z,1761538327.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000591 2025-10-27T04:12:08.104Z,1761538328.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113313,0.982092,0.150519],[-0.992884,0.106342,0.053604],[0.036637,-0.155521,0.987153]] 2025-10-27T04:12:08.142Z,1761538328.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.43 m. 2025-10-27T04:12:08.160Z,1761538328.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252798 2025-10-27T04:12:08.165Z,1761538328.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.429276 m, nav range: 78.996384 m, bearing: 277.664546 deg, approach rate: -0.649779 m/s, LOS rate: 0.000775 deg/s, cmd heading: 276.885760 deg, new cmd heading: 276.886673 deg. 2025-10-27T04:12:08.166Z,1761538328.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832584 target range: 83.429276 and range: 83.80 m. 2025-10-27T04:12:08.412Z,1761538328.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504723 2025-10-27T04:12:08.509Z,1761538328.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112085,0.982146,0.151083],[-0.992992,0.104971,0.054291],[0.037462,-0.156109,0.987029]] 2025-10-27T04:12:08.555Z,1761538328.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.43 m. 2025-10-27T04:12:08.558Z,1761538328.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.429276 m, nav range: 78.740685 m, bearing: 277.665082 deg, approach rate: -0.643829 m/s, LOS rate: 0.001352 deg/s, cmd heading: 276.886662 deg, new cmd heading: 276.888273 deg. 2025-10-27T04:12:08.559Z,1761538328.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832612 target range: 83.429276 and range: 83.80 m. 2025-10-27T04:12:08.668Z,1761538328.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760412 2025-10-27T04:12:08.906Z,1761538328.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110928,0.982225,0.151423],[-0.993095,0.103699,0.054858],[0.038180,-0.156463,0.986946]] 2025-10-27T04:12:08.916Z,1761538328.916 [DAT](INFO): DAT read: Rx Time:04:12:07.5438 2025-10-27T04:12:08.917Z,1761538328.917 [DAT](INFO): Rx dataTimestamp_ set to:1761538328.916243 2025-10-27T04:12:08.917Z,1761538328.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009823 2025-10-27T04:12:08.951Z,1761538328.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:08.953Z,1761538328.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.43 m. 2025-10-27T04:12:08.956Z,1761538328.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.429276 m, nav range: 78.469971 m, bearing: 277.665882 deg, approach rate: -0.653627 m/s, LOS rate: 0.001939 deg/s, cmd heading: 276.888274 deg, new cmd heading: 276.890683 deg. 2025-10-27T04:12:08.957Z,1761538328.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832654 target range: 83.429276 and range: 83.80 m. 2025-10-27T04:12:09.169Z,1761538329.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261340 2025-10-27T04:12:09.317Z,1761538329.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109684,0.982556,0.150178],[-0.993217,0.102475,0.054949],[0.038601,-0.155186,0.987131]] 2025-10-27T04:12:09.426Z,1761538329.426 [DAT](INFO): DAT read: 04:12:07.5438 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.47,-1.311,-2.998,-1.130,-1.400, PHS= 0.191,-1.553, 0.227, RAW= 151.0, 12.8, CAL= 151.0, 14.2, ROT= 359.0, -14.2 2025-10-27T04:12:09.427Z,1761538329.427 [DAT](INFO): got valid direction response: 04:12:07.5438 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.47,-1.311,-2.998,-1.130,-1.400, PHS= 0.191,-1.553, 0.227, RAW= 151.0, 12.8, CAL= 151.0, 14.2, ROT= 359.0, -14.2 2025-10-27T04:12:09.428Z,1761538329.428 [DAT](INFO): DAT read: Bearing 90.4, -1.0 (Local) 2025-10-27T04:12:09.428Z,1761538329.428 [DAT](INFO): Local bearing/azimuth received: Bearing 90.4, -1.0 (Local) 2025-10-27T04:12:09.430Z,1761538329.430 [DAT](INFO): DAT read: Range 11 to 50 : 81.4 m (Round-trip 108.6 ms) speed 0.5 m/s 2025-10-27T04:12:09.430Z,1761538329.430 [DAT](INFO): DAT read: user:97> 2025-10-27T04:12:09.431Z,1761538329.431 [DAT](INFO): DAT read: Tx time:04:12:08.6310 2025-10-27T04:12:09.431Z,1761538329.431 [DAT](INFO): Ping request sent. 2025-10-27T04:12:09.432Z,1761538329.432 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:09.432Z,1761538329.432 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:09.433Z,1761538329.433 [DAT](INFO): direction in FSK: [0.969298,-0.016919,0.245307] 2025-10-27T04:12:09.433Z,1761538329.433 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:09.433Z,1761538329.433 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:09.441Z,1761538329.441 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:09.441Z,1761538329.441 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:09.443Z,1761538329.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.43 m. 2025-10-27T04:12:09.445Z,1761538329.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.429276 m, nav range: 78.202423 m, bearing: 277.668827 deg, approach rate: -0.574538 m/s, LOS rate: 0.006347 deg/s, cmd heading: 276.890678 deg, new cmd heading: 276.899545 deg. 2025-10-27T04:12:09.446Z,1761538329.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832809 target range: 83.429276 and range: 83.80 m. 2025-10-27T04:12:09.721Z,1761538329.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108592,0.982678,0.150174],[-0.993313,0.101304,0.055382],[0.039209,-0.155183,0.987107]] 2025-10-27T04:12:09.781Z,1761538329.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 3.527847 s, deltaX: -2.400002 m, approachRate: -0.680302 m/s, rangeRepo size: 4 2025-10-27T04:12:09.788Z,1761538329.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.039062 m, bearing: 277.516378 deg, lat: 36.779397 deg, lon: -121.859550 deg, deltaT: 3.527847 s, deltaX: -2.390213 m, approachRate: -0.677527 m/s, posRepo size: 4 2025-10-27T04:12:09.788Z,1761538329.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.04 m. 2025-10-27T04:12:09.793Z,1761538329.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.039062 m, nav range: 77.940651 m, bearing: 277.643944 deg, approach rate: 0.000000 m/s, LOS rate: 0.006347 deg/s, cmd heading: 276.899557 deg, new cmd heading: 276.906451 deg. 2025-10-27T04:12:09.794Z,1761538329.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.832929 target range: 81.039062 and range: 81.40 m. 2025-10-27T04:12:10.189Z,1761538330.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.04 m. 2025-10-27T04:12:10.191Z,1761538330.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.039062 m, nav range: 77.674988 m, bearing: 277.648166 deg, approach rate: -0.651475 m/s, LOS rate: 0.010388 deg/s, cmd heading: 276.906442 deg, new cmd heading: 276.919150 deg. 2025-10-27T04:12:10.192Z,1761538330.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833151 target range: 81.039062 and range: 81.40 m. 2025-10-27T04:12:10.532Z,1761538330.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107242,0.982890,0.149753],[-0.993434,0.099896,0.055767],[0.039854,-0.154751,0.987149]] 2025-10-27T04:12:10.550Z,1761538330.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.04 m. 2025-10-27T04:12:10.569Z,1761538330.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.039062 m, nav range: 77.447968 m, bearing: 277.652026 deg, approach rate: -0.627344 m/s, LOS rate: 0.010698 deg/s, cmd heading: 276.919146 deg, new cmd heading: 276.930760 deg. 2025-10-27T04:12:10.570Z,1761538330.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833354 target range: 81.039062 and range: 81.40 m. 2025-10-27T04:12:10.925Z,1761538330.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107141,0.982848,0.150100],[-0.993444,0.099774,0.055801],[0.039868,-0.155094,0.987095]] 2025-10-27T04:12:10.952Z,1761538330.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.04 m. 2025-10-27T04:12:10.955Z,1761538330.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.039062 m, nav range: 77.195961 m, bearing: 277.656355 deg, approach rate: -0.626860 m/s, LOS rate: 0.010803 deg/s, cmd heading: 276.930758 deg, new cmd heading: 276.943787 deg. 2025-10-27T04:12:10.956Z,1761538330.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833581 target range: 81.039062 and range: 81.40 m. 2025-10-27T04:12:11.336Z,1761538331.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106649,0.983021,0.149317],[-0.993488,0.099297,0.055875],[0.040099,-0.154304,0.987209]] 2025-10-27T04:12:11.388Z,1761538331.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:11.390Z,1761538331.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.04 m. 2025-10-27T04:12:11.397Z,1761538331.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.039062 m, nav range: 76.937454 m, bearing: 277.667225 deg, approach rate: -0.590728 m/s, LOS rate: 0.024923 deg/s, cmd heading: 276.943790 deg, new cmd heading: 276.976510 deg. 2025-10-27T04:12:11.398Z,1761538331.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834152 target range: 81.039062 and range: 81.40 m. 2025-10-27T04:12:11.437Z,1761538331.437 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:11.437Z,1761538331.437 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:11.437Z,1761538331.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:11.688Z,1761538331.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256597 2025-10-27T04:12:11.743Z,1761538331.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106374,0.983032,0.149439],[-0.993511,0.098997,0.055987],[0.040243,-0.154425,0.987185]] 2025-10-27T04:12:11.762Z,1761538331.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.04 m. 2025-10-27T04:12:11.764Z,1761538331.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.039062 m, nav range: 76.699440 m, bearing: 277.677347 deg, approach rate: -0.640393 m/s, LOS rate: 0.027318 deg/s, cmd heading: 276.976520 deg, new cmd heading: 277.006979 deg. 2025-10-27T04:12:11.765Z,1761538331.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834684 target range: 81.039062 and range: 81.40 m. 2025-10-27T04:12:11.940Z,1761538331.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508640 2025-10-27T04:12:12.156Z,1761538332.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106399,0.982950,0.149965],[-0.993506,0.098982,0.056106],[0.040306,-0.154961,0.987098]] 2025-10-27T04:12:12.192Z,1761538332.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760480 2025-10-27T04:12:12.202Z,1761538332.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.04 m. 2025-10-27T04:12:12.205Z,1761538332.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.039062 m, nav range: 76.448120 m, bearing: 277.692176 deg, approach rate: -0.570120 m/s, LOS rate: 0.033751 deg/s, cmd heading: 277.006982 deg, new cmd heading: 277.051617 deg. 2025-10-27T04:12:12.206Z,1761538332.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835463 target range: 81.039062 and range: 81.40 m. 2025-10-27T04:12:12.445Z,1761538332.445 [DAT](INFO): DAT read: Rx Time:04:12:11.1408 2025-10-27T04:12:12.445Z,1761538332.445 [DAT](INFO): Rx dataTimestamp_ set to:1761538332.444855 2025-10-27T04:12:12.446Z,1761538332.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014320 2025-10-27T04:12:12.579Z,1761538332.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.04 m. 2025-10-27T04:12:12.582Z,1761538332.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.039062 m, nav range: 76.233444 m, bearing: 277.704921 deg, approach rate: -0.570291 m/s, LOS rate: 0.033952 deg/s, cmd heading: 277.051625 deg, new cmd heading: 277.089967 deg. 2025-10-27T04:12:12.583Z,1761538332.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836132 target range: 81.039062 and range: 81.40 m. 2025-10-27T04:12:12.696Z,1761538332.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264870 2025-10-27T04:12:12.951Z,1761538332.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518786 2025-10-27T04:12:13.037Z,1761538333.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.04 m. 2025-10-27T04:12:13.040Z,1761538333.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.039062 m, nav range: 75.972603 m, bearing: 277.720503 deg, approach rate: -0.569534 m/s, LOS rate: 0.034141 deg/s, cmd heading: 277.089956 deg, new cmd heading: 277.136864 deg. 2025-10-27T04:12:13.041Z,1761538333.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836951 target range: 81.039062 and range: 81.40 m. 2025-10-27T04:12:13.171Z,1761538333.171 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:12:13.205Z,1761538333.205 [DAT](INFO): DAT read: 04:12:11.1408 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.07,-1.049,-2.803,-0.868,-1.239, PHS= 0.292,-1.519, 0.327, RAW= 150.9, 9.9, CAL= 150.6, 10.7, ROT= 359.4, -10.7 2025-10-27T04:12:13.207Z,1761538333.207 [DAT](INFO): got valid direction response: 04:12:11.1408 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.07,-1.049,-2.803,-0.868,-1.239, PHS= 0.292,-1.519, 0.327, RAW= 150.9, 9.9, CAL= 150.6, 10.7, ROT= 359.4, -10.7 2025-10-27T04:12:13.208Z,1761538333.208 [DAT](INFO): DAT read: Bearing 87.0, 0.2 (Local) 2025-10-27T04:12:13.208Z,1761538333.208 [DAT](INFO): Local bearing/azimuth received: Bearing 87.0, 0.2 (Local) 2025-10-27T04:12:13.210Z,1761538333.210 [DAT](INFO): DAT read: Range 11 to 50 : 79.2 m (Round-trip 105.6 ms) speed 0.4 m/s 2025-10-27T04:12:13.210Z,1761538333.210 [DAT](INFO): DAT read: user:98> 2025-10-27T04:12:13.217Z,1761538333.217 [DAT](INFO): DAT read: Tx time:04:12:12.2310 2025-10-27T04:12:13.217Z,1761538333.217 [DAT](INFO): Ping request sent. 2025-10-27T04:12:13.217Z,1761538333.217 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:13.217Z,1761538333.217 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:13.218Z,1761538333.218 [DAT](INFO): direction in FSK: [0.982559,-0.010290,0.185667] 2025-10-27T04:12:13.219Z,1761538333.219 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:13.219Z,1761538333.219 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:13.222Z,1761538333.222 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:13.222Z,1761538333.222 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:13.440Z,1761538333.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.779857 s, deltaX: -2.200005 m, approachRate: -0.582034 m/s, rangeRepo size: 4 2025-10-27T04:12:13.442Z,1761538333.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.849083 m, bearing: 277.208130 deg, lat: 36.779395 deg, lon: -121.859551 deg, deltaT: 3.779857 s, deltaX: -2.189980 m, approachRate: -0.579382 m/s, posRepo size: 4 2025-10-27T04:12:13.442Z,1761538333.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m. 2025-10-27T04:12:13.449Z,1761538333.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.849083 m, nav range: 75.781677 m, bearing: 277.580243 deg, approach rate: 0.000000 m/s, LOS rate: 0.034141 deg/s, cmd heading: 277.136865 deg, new cmd heading: 277.177628 deg. 2025-10-27T04:12:13.450Z,1761538333.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.837662 target range: 78.849083 and range: 79.20 m. 2025-10-27T04:12:13.756Z,1761538333.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108070,0.982988,0.148513],[-0.993324,0.100707,0.056261],[0.040347,-0.153601,0.987309]] 2025-10-27T04:12:13.773Z,1761538333.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:13.775Z,1761538333.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m. 2025-10-27T04:12:13.778Z,1761538333.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.849083 m, nav range: 75.576012 m, bearing: 277.593210 deg, approach rate: -0.604735 m/s, LOS rate: 0.038231 deg/s, cmd heading: 277.177628 deg, new cmd heading: 277.216634 deg. 2025-10-27T04:12:13.779Z,1761538333.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838343 target range: 78.849083 and range: 79.20 m. 2025-10-27T04:12:13.959Z,1761538333.959 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:13.959Z,1761538333.959 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:13.959Z,1761538333.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:14.177Z,1761538334.177 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:12:14.189Z,1761538334.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108838,0.982984,0.147977],[-0.993239,0.101489,0.056364],[0.040387,-0.153112,0.987383]] 2025-10-27T04:12:14.208Z,1761538334.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991048 2025-10-27T04:12:14.227Z,1761538334.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m. 2025-10-27T04:12:14.230Z,1761538334.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.849083 m, nav range: 75.322739 m, bearing: 277.609534 deg, approach rate: -0.560236 m/s, LOS rate: 0.036229 deg/s, cmd heading: 277.216642 deg, new cmd heading: 277.265777 deg. 2025-10-27T04:12:14.259Z,1761538334.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839200 target range: 78.849083 and range: 79.20 m. 2025-10-27T04:12:14.460Z,1761538334.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242744 2025-10-27T04:12:14.561Z,1761538334.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109594,0.982921,0.147839],[-0.993154,0.102237,0.056496],[0.040417,-0.153019,0.987396]] 2025-10-27T04:12:14.590Z,1761538334.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m. 2025-10-27T04:12:14.593Z,1761538334.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.849083 m, nav range: 75.119095 m, bearing: 277.622620 deg, approach rate: -0.560454 m/s, LOS rate: 0.036114 deg/s, cmd heading: 277.265765 deg, new cmd heading: 277.305131 deg. 2025-10-27T04:12:14.594Z,1761538334.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839888 target range: 78.849083 and range: 79.20 m. 2025-10-27T04:12:14.714Z,1761538334.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496142 2025-10-27T04:12:14.964Z,1761538334.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747063 2025-10-27T04:12:15.027Z,1761538335.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110596,0.982971,0.146756],[-0.993043,0.103287,0.056548],[0.040427,-0.151989,0.987555]] 2025-10-27T04:12:15.062Z,1761538335.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m. 2025-10-27T04:12:15.065Z,1761538335.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.849083 m, nav range: 74.864349 m, bearing: 277.638898 deg, approach rate: -0.540530 m/s, LOS rate: 0.034656 deg/s, cmd heading: 277.305134 deg, new cmd heading: 277.354132 deg. 2025-10-27T04:12:15.066Z,1761538335.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.840743 target range: 78.849083 and range: 79.20 m. 2025-10-27T04:12:15.217Z,1761538335.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999518 2025-10-27T04:12:15.468Z,1761538335.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251053 2025-10-27T04:12:15.519Z,1761538335.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111526,0.983061,0.145441],[-0.992921,0.104213,0.056991],[0.040869,-0.150768,0.987724]] 2025-10-27T04:12:15.566Z,1761538335.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m. 2025-10-27T04:12:15.569Z,1761538335.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.849083 m, nav range: 74.579399 m, bearing: 277.655891 deg, approach rate: -0.565003 m/s, LOS rate: 0.033823 deg/s, cmd heading: 277.354120 deg, new cmd heading: 277.405294 deg. 2025-10-27T04:12:15.570Z,1761538335.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841636 target range: 78.849083 and range: 79.20 m. 2025-10-27T04:12:15.720Z,1761538335.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503129 2025-10-27T04:12:15.972Z,1761538335.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754757 2025-10-27T04:12:15.976Z,1761538335.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112068,0.983194,0.144117],[-0.992852,0.104796,0.057123],[0.041060,-0.149489,0.987911]] 2025-10-27T04:12:15.994Z,1761538335.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:15.999Z,1761538335.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m. 2025-10-27T04:12:16.025Z,1761538336.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.849083 m, nav range: 74.344910 m, bearing: 277.669878 deg, approach rate: -0.542138 m/s, LOS rate: 0.032440 deg/s, cmd heading: 277.405292 deg, new cmd heading: 277.447385 deg. 2025-10-27T04:12:16.026Z,1761538336.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842371 target range: 78.849083 and range: 79.20 m. 2025-10-27T04:12:16.224Z,1761538336.224 [DAT](INFO): DAT read: Rx Time:04:12:14.7382 2025-10-27T04:12:16.224Z,1761538336.224 [DAT](INFO): Rx dataTimestamp_ set to:1761538336.224126 2025-10-27T04:12:16.225Z,1761538336.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007796 2025-10-27T04:12:16.377Z,1761538336.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112824,0.983212,0.143404],[-0.992764,0.105574,0.057224],[0.041123,-0.148823,0.988008]] 2025-10-27T04:12:16.430Z,1761538336.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m. 2025-10-27T04:12:16.449Z,1761538336.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.849083 m, nav range: 74.098137 m, bearing: 277.680486 deg, approach rate: -0.572225 m/s, LOS rate: 0.024681 deg/s, cmd heading: 277.447393 deg, new cmd heading: 277.479324 deg. 2025-10-27T04:12:16.450Z,1761538336.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842928 target range: 78.849083 and range: 79.20 m. 2025-10-27T04:12:16.476Z,1761538336.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258896 2025-10-27T04:12:16.734Z,1761538336.734 [DAT](INFO): DAT read: 04:12:14.7382 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.43,-2.634, 1.954,-2.466,-2.706, PHS= 0.174,-1.577, 0.197, RAW= 150.6, 13.6, CAL= 150.7, 15.1, ROT= 359.3, -15.1 2025-10-27T04:12:16.735Z,1761538336.735 [DAT](INFO): got valid direction response: 04:12:14.7382 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.43,-2.634, 1.954,-2.466,-2.706, PHS= 0.174,-1.577, 0.197, RAW= 150.6, 13.6, CAL= 150.7, 15.1, ROT= 359.3, -15.1 2025-10-27T04:12:16.736Z,1761538336.736 [DAT](INFO): DAT read: Bearing 91.5, -0.3 (Local) 2025-10-27T04:12:16.736Z,1761538336.736 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, -0.3 (Local) 2025-10-27T04:12:16.738Z,1761538336.738 [DAT](INFO): DAT read: Range 11 to 50 : 77.3 m (Round-trip 103.1 ms) speed 0.4 m/s 2025-10-27T04:12:16.738Z,1761538336.738 [DAT](INFO): DAT read: user:99> 2025-10-27T04:12:16.739Z,1761538336.739 [DAT](INFO): DAT read: Tx time:04:12:15.8310 2025-10-27T04:12:16.740Z,1761538336.740 [DAT](INFO): Ping request sent. 2025-10-27T04:12:16.740Z,1761538336.740 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:16.740Z,1761538336.740 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:16.741Z,1761538336.741 [DAT](INFO): direction in FSK: [0.965401,-0.011795,0.260505] 2025-10-27T04:12:16.741Z,1761538336.741 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:16.741Z,1761538336.741 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:16.745Z,1761538336.745 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:16.745Z,1761538336.745 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:16.794Z,1761538336.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113256,0.983266,0.142694],[-0.992708,0.106019,0.057360],[0.041272,-0.148150,0.988103]] 2025-10-27T04:12:16.872Z,1761538336.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.300003 m, deltaT: 3.528080 s, deltaX: -1.899994 m, approachRate: -0.538535 m/s, rangeRepo size: 4 2025-10-27T04:12:16.874Z,1761538336.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.956429 m, bearing: 278.127670 deg, lat: 36.779399 deg, lon: -121.859551 deg, deltaT: 3.528080 s, deltaX: -1.892654 m, approachRate: -0.536454 m/s, posRepo size: 4 2025-10-27T04:12:16.874Z,1761538336.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.96 m. 2025-10-27T04:12:16.881Z,1761538336.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.956429 m, nav range: 73.924911 m, bearing: 278.032068 deg, approach rate: 0.000000 m/s, LOS rate: 0.024681 deg/s, cmd heading: 277.479331 deg, new cmd heading: 277.511104 deg. 2025-10-27T04:12:16.882Z,1761538336.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.843482 target range: 76.956429 and range: 77.30 m. 2025-10-27T04:12:17.216Z,1761538337.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113739,0.983311,0.141998],[-0.992654,0.106539,0.057343],[0.041257,-0.147477,0.988205]] 2025-10-27T04:12:17.253Z,1761538337.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.96 m. 2025-10-27T04:12:17.256Z,1761538337.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.956429 m, nav range: 73.685463 m, bearing: 278.044996 deg, approach rate: -0.607295 m/s, LOS rate: 0.032896 deg/s, cmd heading: 277.511105 deg, new cmd heading: 277.550017 deg. 2025-10-27T04:12:17.257Z,1761538337.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844162 target range: 76.956429 and range: 77.30 m. 2025-10-27T04:12:17.590Z,1761538337.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114197,0.983246,0.142079],[-0.992612,0.107026,0.057154],[0.040991,-0.147557,0.988204]] 2025-10-27T04:12:17.625Z,1761538337.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.96 m. 2025-10-27T04:12:17.632Z,1761538337.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.956429 m, nav range: 73.478073 m, bearing: 278.056187 deg, approach rate: -0.558351 m/s, LOS rate: 0.030214 deg/s, cmd heading: 277.550010 deg, new cmd heading: 277.583677 deg. 2025-10-27T04:12:17.632Z,1761538337.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844749 target range: 76.956429 and range: 77.30 m. 2025-10-27T04:12:18.004Z,1761538338.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114911,0.983047,0.142876],[-0.992562,0.107803,0.056561],[0.040200,-0.148313,0.988123]] 2025-10-27T04:12:18.030Z,1761538338.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:18.032Z,1761538338.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.96 m. 2025-10-27T04:12:18.035Z,1761538338.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.956429 m, nav range: 73.231987 m, bearing: 278.069408 deg, approach rate: -0.604046 m/s, LOS rate: 0.032560 deg/s, cmd heading: 277.583669 deg, new cmd heading: 277.623464 deg. 2025-10-27T04:12:18.036Z,1761538338.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845444 target range: 76.956429 and range: 77.30 m. 2025-10-27T04:12:18.241Z,1761538338.241 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:18.241Z,1761538338.241 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:18.241Z,1761538338.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:18.398Z,1761538338.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114961,0.983234,0.141542],[-0.992580,0.108016,0.055834],[0.039609,-0.146911,0.988356]] 2025-10-27T04:12:18.449Z,1761538338.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.96 m. 2025-10-27T04:12:18.452Z,1761538338.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.956429 m, nav range: 72.976509 m, bearing: 278.078571 deg, approach rate: -0.613245 m/s, LOS rate: 0.022072 deg/s, cmd heading: 277.623475 deg, new cmd heading: 277.651061 deg. 2025-10-27T04:12:18.452Z,1761538338.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845925 target range: 76.956429 and range: 77.30 m. 2025-10-27T04:12:18.493Z,1761538338.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753322 2025-10-27T04:12:18.744Z,1761538338.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004164 2025-10-27T04:12:18.803Z,1761538338.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115143,0.983106,0.142283],[-0.992587,0.108260,0.055230],[0.038894,-0.147588,0.988284]] 2025-10-27T04:12:18.821Z,1761538338.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.96 m. 2025-10-27T04:12:18.824Z,1761538338.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.956429 m, nav range: 72.748520 m, bearing: 278.086770 deg, approach rate: -0.611554 m/s, LOS rate: 0.022062 deg/s, cmd heading: 277.651069 deg, new cmd heading: 277.675743 deg. 2025-10-27T04:12:18.825Z,1761538338.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846356 target range: 76.956429 and range: 77.30 m. 2025-10-27T04:12:18.998Z,1761538338.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257564 2025-10-27T04:12:19.242Z,1761538339.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114801,0.983066,0.142836],[-0.992648,0.107971,0.054705],[0.038356,-0.148066,0.988233]] 2025-10-27T04:12:19.248Z,1761538339.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508218 2025-10-27T04:12:19.294Z,1761538339.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.96 m. 2025-10-27T04:12:19.297Z,1761538339.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.956429 m, nav range: 72.453857 m, bearing: 278.094677 deg, approach rate: -0.623015 m/s, LOS rate: 0.016788 deg/s, cmd heading: 277.675740 deg, new cmd heading: 277.699560 deg. 2025-10-27T04:12:19.298Z,1761538339.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846772 target range: 76.956429 and range: 77.30 m. 2025-10-27T04:12:19.504Z,1761538339.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764190 2025-10-27T04:12:19.651Z,1761538339.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.96 m. 2025-10-27T04:12:19.670Z,1761538339.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.956429 m, nav range: 72.231812 m, bearing: 278.100679 deg, approach rate: -0.623428 m/s, LOS rate: 0.016903 deg/s, cmd heading: 277.699564 deg, new cmd heading: 277.717624 deg. 2025-10-27T04:12:19.672Z,1761538339.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847087 target range: 76.956429 and range: 77.30 m. 2025-10-27T04:12:19.752Z,1761538339.752 [DAT](INFO): DAT read: Rx Time:04:12:18.3353 2025-10-27T04:12:19.753Z,1761538339.753 [DAT](INFO): Rx dataTimestamp_ set to:1761538339.752223 2025-10-27T04:12:19.753Z,1761538339.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013352 2025-10-27T04:12:20.005Z,1761538340.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265039 2025-10-27T04:12:20.033Z,1761538340.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114403,0.983066,0.143151],[-0.992720,0.107666,0.053981],[0.037655,-0.148285,0.988228]] 2025-10-27T04:12:20.049Z,1761538340.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:20.052Z,1761538340.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.96 m. 2025-10-27T04:12:20.054Z,1761538340.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.956429 m, nav range: 71.982285 m, bearing: 278.107548 deg, approach rate: -0.622088 m/s, LOS rate: 0.017183 deg/s, cmd heading: 277.717623 deg, new cmd heading: 277.738300 deg. 2025-10-27T04:12:20.055Z,1761538340.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847448 target range: 76.956429 and range: 77.30 m. 2025-10-27T04:12:20.272Z,1761538340.272 [DAT](INFO): DAT read: 04:12:18.3353 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.13,-0.160,-1.850, 0.030,-0.260, PHS= 0.202,-1.544, 0.247, RAW= 151.3, 12.3, CAL= 151.2, 13.7, ROT= 358.8, -13.7 2025-10-27T04:12:20.273Z,1761538340.273 [DAT](INFO): got valid direction response: 04:12:18.3353 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.13,-0.160,-1.850, 0.030,-0.260, PHS= 0.202,-1.544, 0.247, RAW= 151.3, 12.3, CAL= 151.2, 13.7, ROT= 358.8, -13.7 2025-10-27T04:12:20.274Z,1761538340.274 [DAT](INFO): DAT read: Bearing 90.0, -0.9 (Local) 2025-10-27T04:12:20.275Z,1761538340.275 [DAT](INFO): Local bearing/azimuth received: Bearing 90.0, -0.9 (Local) 2025-10-27T04:12:20.289Z,1761538340.289 [DAT](INFO): DAT read: Range 11 to 50 : 75.1 m (Round-trip 100.2 ms) speed 0.6 m/s 2025-10-27T04:12:20.290Z,1761538340.290 [DAT](INFO): DAT read: user:100> 2025-10-27T04:12:20.292Z,1761538340.292 [DAT](INFO): DAT read: Tx time:04:12:19.4309 2025-10-27T04:12:20.292Z,1761538340.292 [DAT](INFO): Ping request sent. 2025-10-27T04:12:20.293Z,1761538340.293 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:20.293Z,1761538340.293 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:20.294Z,1761538340.294 [DAT](INFO): direction in FSK: [0.971336,-0.020347,0.236838] 2025-10-27T04:12:20.296Z,1761538340.296 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:20.297Z,1761538340.297 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:20.302Z,1761538340.302 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:20.302Z,1761538340.302 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:20.418Z,1761538340.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114066,0.983177,0.142661],[-0.992782,0.107450,0.053272],[0.037047,-0.147708,0.988337]] 2025-10-27T04:12:20.527Z,1761538340.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.099998 m, deltaT: 3.529833 s, deltaX: -2.200005 m, approachRate: -0.623260 m/s, rangeRepo size: 4 2025-10-27T04:12:20.529Z,1761538340.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.764503 m, bearing: 277.440774 deg, lat: 36.779395 deg, lon: -121.859554 deg, deltaT: 3.529833 s, deltaX: -2.191925 m, approachRate: -0.620971 m/s, posRepo size: 4 2025-10-27T04:12:20.530Z,1761538340.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.76 m. 2025-10-27T04:12:20.536Z,1761538340.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.764503 m, nav range: 71.944817 m, bearing: 277.731071 deg, approach rate: 0.000000 m/s, LOS rate: 0.017183 deg/s, cmd heading: 277.738304 deg, new cmd heading: 277.762166 deg. 2025-10-27T04:12:20.541Z,1761538340.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847864 target range: 74.764503 and range: 75.10 m. 2025-10-27T04:12:20.864Z,1761538340.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113492,0.983415,0.141471],[-0.992862,0.107003,0.052682],[0.036670,-0.146440,0.988540]] 2025-10-27T04:12:20.885Z,1761538340.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.76 m. 2025-10-27T04:12:20.888Z,1761538340.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.764503 m, nav range: 71.694565 m, bearing: 277.736604 deg, approach rate: -0.674939 m/s, LOS rate: 0.014973 deg/s, cmd heading: 277.762156 deg, new cmd heading: 277.778810 deg. 2025-10-27T04:12:20.889Z,1761538340.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848155 target range: 74.764503 and range: 75.10 m. 2025-10-27T04:12:21.280Z,1761538341.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112963,0.983590,0.140677],[-0.992932,0.106562,0.052254],[0.036406,-0.145585,0.988676]] 2025-10-27T04:12:21.336Z,1761538341.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.76 m. 2025-10-27T04:12:21.339Z,1761538341.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.764503 m, nav range: 71.409447 m, bearing: 277.745033 deg, approach rate: -0.633832 m/s, LOS rate: 0.018815 deg/s, cmd heading: 277.778821 deg, new cmd heading: 277.804211 deg. 2025-10-27T04:12:21.340Z,1761538341.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848598 target range: 74.764503 and range: 75.10 m. 2025-10-27T04:12:21.669Z,1761538341.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112523,0.983693,0.140308],[-0.992990,0.106181,0.051922],[0.036177,-0.145167,0.988746]] 2025-10-27T04:12:21.708Z,1761538341.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.76 m. 2025-10-27T04:12:21.712Z,1761538341.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.764503 m, nav range: 71.185791 m, bearing: 277.751774 deg, approach rate: -0.602470 m/s, LOS rate: 0.018216 deg/s, cmd heading: 277.804202 deg, new cmd heading: 277.824489 deg. 2025-10-27T04:12:21.714Z,1761538341.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848952 target range: 74.764503 and range: 75.10 m. 2025-10-27T04:12:22.076Z,1761538342.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112179,0.983784,0.139947],[-0.993040,0.105905,0.051530],[0.035874,-0.144753,0.988817]] 2025-10-27T04:12:22.092Z,1761538342.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:22.094Z,1761538342.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.76 m. 2025-10-27T04:12:22.097Z,1761538342.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.764503 m, nav range: 70.928627 m, bearing: 277.759652 deg, approach rate: -0.663221 m/s, LOS rate: 0.020389 deg/s, cmd heading: 277.824501 deg, new cmd heading: 277.848219 deg. 2025-10-27T04:12:22.098Z,1761538342.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849366 target range: 74.764503 and range: 75.10 m. 2025-10-27T04:12:22.274Z,1761538342.274 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:22.274Z,1761538342.274 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:22.275Z,1761538342.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:22.524Z,1761538342.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231672 2025-10-27T04:12:22.544Z,1761538342.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.76 m. 2025-10-27T04:12:22.547Z,1761538342.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.764503 m, nav range: 70.654625 m, bearing: 277.773612 deg, approach rate: -0.608501 m/s, LOS rate: 0.031124 deg/s, cmd heading: 277.848216 deg, new cmd heading: 277.890260 deg. 2025-10-27T04:12:22.548Z,1761538342.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.850100 target range: 74.764503 and range: 75.10 m. 2025-10-27T04:12:22.777Z,1761538342.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484487 2025-10-27T04:12:22.882Z,1761538342.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111890,0.983817,0.139946],[-0.993097,0.105716,0.050827],[0.035210,-0.144667,0.988854]] 2025-10-27T04:12:22.904Z,1761538342.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.76 m. 2025-10-27T04:12:22.906Z,1761538342.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.764503 m, nav range: 70.436562 m, bearing: 277.784853 deg, approach rate: -0.607016 m/s, LOS rate: 0.031387 deg/s, cmd heading: 277.890263 deg, new cmd heading: 277.924089 deg. 2025-10-27T04:12:22.907Z,1761538342.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.850690 target range: 74.764503 and range: 75.10 m. 2025-10-27T04:12:23.029Z,1761538343.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736056 2025-10-27T04:12:23.283Z,1761538343.283 [DAT](INFO): DAT read: Rx Time:04:12:21.9322 2025-10-27T04:12:23.284Z,1761538343.284 [DAT](INFO): Rx dataTimestamp_ set to:1761538343.283426 2025-10-27T04:12:23.286Z,1761538343.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992977 2025-10-27T04:12:23.321Z,1761538343.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111840,0.983756,0.140415],[-0.993114,0.105691,0.050528],[0.034866,-0.145099,0.988803]] 2025-10-27T04:12:23.406Z,1761538343.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.76 m. 2025-10-27T04:12:23.417Z,1761538343.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.764503 m, nav range: 70.145836 m, bearing: 277.801538 deg, approach rate: -0.578614 m/s, LOS rate: 0.033346 deg/s, cmd heading: 277.924086 deg, new cmd heading: 277.974349 deg. 2025-10-27T04:12:23.418Z,1761538343.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851568 target range: 74.764503 and range: 75.10 m. 2025-10-27T04:12:23.532Z,1761538343.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239586 2025-10-27T04:12:23.747Z,1761538343.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111861,0.983736,0.140536],[-0.993123,0.105751,0.050242],[0.034563,-0.145189,0.988800]] 2025-10-27T04:12:23.800Z,1761538343.800 [DAT](INFO): DAT read: 04:12:21.9322 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.13,-2.729, 1.817,-2.537,-2.884, PHS= 0.257,-1.537, 0.303, RAW= 151.3, 10.8, CAL= 151.1, 11.8, ROT= 358.9, -11.8 2025-10-27T04:12:23.801Z,1761538343.801 [DAT](INFO): got valid direction response: 04:12:21.9322 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.13,-2.729, 1.817,-2.537,-2.884, PHS= 0.257,-1.537, 0.303, RAW= 151.3, 10.8, CAL= 151.1, 11.8, ROT= 358.9, -11.8 2025-10-27T04:12:23.802Z,1761538343.802 [DAT](INFO): DAT read: Bearing 88.1, -0.8 (Local) 2025-10-27T04:12:23.802Z,1761538343.802 [DAT](INFO): Local bearing/azimuth received: Bearing 88.1, -0.8 (Local) 2025-10-27T04:12:23.804Z,1761538343.804 [DAT](INFO): DAT read: Range 11 to 50 : 72.8 m (Round-trip 97.1 ms) speed 0.6 m/s 2025-10-27T04:12:23.805Z,1761538343.805 [DAT](INFO): DAT read: user:101> 2025-10-27T04:12:23.806Z,1761538343.806 [DAT](INFO): DAT read: Tx time:04:12:23.0309 2025-10-27T04:12:23.806Z,1761538343.806 [DAT](INFO): Ping request sent. 2025-10-27T04:12:23.806Z,1761538343.806 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:23.806Z,1761538343.806 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:23.824Z,1761538343.824 [DAT](INFO): direction in FSK: [0.978687,-0.018792,0.204496] 2025-10-27T04:12:23.824Z,1761538343.824 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:23.824Z,1761538343.824 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:23.827Z,1761538343.827 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:23.828Z,1761538343.828 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:23.874Z,1761538343.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.800003 m, deltaT: 3.527693 s, deltaX: -2.299995 m, approachRate: -0.651983 m/s, rangeRepo size: 4 2025-10-27T04:12:23.901Z,1761538343.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.474213 m, bearing: 277.082347 deg, lat: 36.779392 deg, lon: -121.859554 deg, deltaT: 3.527693 s, deltaX: -2.290291 m, approachRate: -0.649232 m/s, posRepo size: 4 2025-10-27T04:12:23.902Z,1761538343.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.47 m. 2025-10-27T04:12:23.907Z,1761538343.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.474213 m, nav range: 69.834396 m, bearing: 277.526545 deg, approach rate: 0.000000 m/s, LOS rate: 0.033346 deg/s, cmd heading: 277.974356 deg, new cmd heading: 278.021073 deg. 2025-10-27T04:12:23.920Z,1761538343.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.852383 target range: 72.474213 and range: 72.80 m. 2025-10-27T04:12:24.333Z,1761538344.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:24.339Z,1761538344.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.47 m. 2025-10-27T04:12:24.342Z,1761538344.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.474213 m, nav range: 69.570930 m, bearing: 277.540802 deg, approach rate: -0.570191 m/s, LOS rate: 0.030973 deg/s, cmd heading: 278.021074 deg, new cmd heading: 278.064009 deg. 2025-10-27T04:12:24.347Z,1761538344.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853133 target range: 72.474213 and range: 72.80 m. 2025-10-27T04:12:24.540Z,1761538344.540 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:24.540Z,1761538344.540 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:24.540Z,1761538344.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:24.747Z,1761538344.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.47 m. 2025-10-27T04:12:24.749Z,1761538344.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.474213 m, nav range: 69.289536 m, bearing: 277.561669 deg, approach rate: -0.683816 m/s, LOS rate: 0.050914 deg/s, cmd heading: 278.064023 deg, new cmd heading: 278.126876 deg. 2025-10-27T04:12:24.750Z,1761538344.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854230 target range: 72.474213 and range: 72.80 m. 2025-10-27T04:12:24.793Z,1761538344.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986359 2025-10-27T04:12:25.044Z,1761538345.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237693 2025-10-27T04:12:25.074Z,1761538345.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113883,0.983433,0.141031],[-0.992940,0.107924,0.049224],[0.033188,-0.145641,0.988781]] 2025-10-27T04:12:25.115Z,1761538345.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.47 m. 2025-10-27T04:12:25.118Z,1761538345.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.474213 m, nav range: 69.076439 m, bearing: 277.577217 deg, approach rate: -0.580550 m/s, LOS rate: 0.042490 deg/s, cmd heading: 278.126888 deg, new cmd heading: 278.173677 deg. 2025-10-27T04:12:25.119Z,1761538345.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855047 target range: 72.474213 and range: 72.80 m. 2025-10-27T04:12:25.312Z,1761538345.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492046 2025-10-27T04:12:25.479Z,1761538345.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114553,0.983459,0.140309],[-0.992870,0.108654,0.049027],[0.032971,-0.144925,0.988893]] 2025-10-27T04:12:25.548Z,1761538345.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742074 2025-10-27T04:12:25.549Z,1761538345.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.47 m. 2025-10-27T04:12:25.552Z,1761538345.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.474213 m, nav range: 68.816383 m, bearing: 277.599935 deg, approach rate: -0.597315 m/s, LOS rate: 0.052378 deg/s, cmd heading: 278.173688 deg, new cmd heading: 278.242100 deg. 2025-10-27T04:12:25.553Z,1761538345.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.856241 target range: 72.474213 and range: 72.80 m. 2025-10-27T04:12:25.800Z,1761538345.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994143 2025-10-27T04:12:25.887Z,1761538345.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116038,0.983639,0.137805],[-0.992713,0.110315,0.048492],[0.032497,-0.142428,0.989272]] 2025-10-27T04:12:25.905Z,1761538345.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.47 m. 2025-10-27T04:12:25.928Z,1761538345.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.474213 m, nav range: 68.609253 m, bearing: 277.617918 deg, approach rate: -0.581910 m/s, LOS rate: 0.050673 deg/s, cmd heading: 278.242099 deg, new cmd heading: 278.296210 deg. 2025-10-27T04:12:25.929Z,1761538345.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857185 target range: 72.474213 and range: 72.80 m. 2025-10-27T04:12:26.052Z,1761538346.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245686 2025-10-27T04:12:26.301Z,1761538346.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120034,0.983427,0.135877],[-0.992278,0.114537,0.047603],[0.031251,-0.140542,0.989581]] 2025-10-27T04:12:26.307Z,1761538346.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500311 2025-10-27T04:12:26.406Z,1761538346.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:26.408Z,1761538346.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.47 m. 2025-10-27T04:12:26.411Z,1761538346.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.474213 m, nav range: 68.325829 m, bearing: 277.642070 deg, approach rate: -0.563413 m/s, LOS rate: 0.048210 deg/s, cmd heading: 278.296222 deg, new cmd heading: 278.368977 deg. 2025-10-27T04:12:26.412Z,1761538346.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858455 target range: 72.474213 and range: 72.80 m. 2025-10-27T04:12:26.556Z,1761538346.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749828 2025-10-27T04:12:26.728Z,1761538346.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122250,0.983385,0.134198],[-0.992023,0.116878,0.047231],[0.030761,-0.138901,0.989828]] 2025-10-27T04:12:26.746Z,1761538346.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.47 m. 2025-10-27T04:12:26.750Z,1761538346.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.474213 m, nav range: 68.134583 m, bearing: 277.658133 deg, approach rate: -0.565256 m/s, LOS rate: 0.047609 deg/s, cmd heading: 278.368977 deg, new cmd heading: 278.417301 deg. 2025-10-27T04:12:26.767Z,1761538346.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.859299 target range: 72.474213 and range: 72.80 m. 2025-10-27T04:12:26.808Z,1761538346.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001854 2025-10-27T04:12:27.060Z,1761538347.060 [DAT](INFO): DAT read: Rx Time:04:12:25.5292 2025-10-27T04:12:27.060Z,1761538347.060 [DAT](INFO): Rx dataTimestamp_ set to:1761538347.060087 2025-10-27T04:12:27.061Z,1761538347.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254733 2025-10-27T04:12:27.125Z,1761538347.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124284,0.983339,0.132654],[-0.991777,0.118998,0.047086],[0.030516,-0.137416,0.990043]] 2025-10-27T04:12:27.153Z,1761538347.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.47 m. 2025-10-27T04:12:27.156Z,1761538347.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.474213 m, nav range: 67.905113 m, bearing: 277.677139 deg, approach rate: -0.564293 m/s, LOS rate: 0.046898 deg/s, cmd heading: 278.417307 deg, new cmd heading: 278.474520 deg. 2025-10-27T04:12:27.157Z,1761538347.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860297 target range: 72.474213 and range: 72.80 m. 2025-10-27T04:12:27.314Z,1761538347.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507716 2025-10-27T04:12:27.530Z,1761538347.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126346,0.983308,0.130928],[-0.991519,0.121132,0.047084],[0.030438,-0.135766,0.990273]] 2025-10-27T04:12:27.570Z,1761538347.570 [DAT](INFO): DAT read: 04:12:25.5292 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417, 0.49, 2.807, 1.146, 3.011, 2.718, PHS= 0.191,-1.527, 0.249, RAW= 151.6, 12.4, CAL= 151.7, 13.7, ROT= 358.3, -13.7 2025-10-27T04:12:27.571Z,1761538347.571 [DAT](INFO): got valid direction response: 04:12:25.5292 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417, 0.49, 2.807, 1.146, 3.011, 2.718, PHS= 0.191,-1.527, 0.249, RAW= 151.6, 12.4, CAL= 151.7, 13.7, ROT= 358.3, -13.7 2025-10-27T04:12:27.572Z,1761538347.572 [DAT](INFO): DAT read: Bearing 90.1, -1.7 (Local) 2025-10-27T04:12:27.572Z,1761538347.572 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, -1.7 (Local) 2025-10-27T04:12:27.574Z,1761538347.574 [DAT](INFO): DAT read: Range 11 to 50 : 70.6 m (Round-trip 94.2 ms) speed 0.4 m/s 2025-10-27T04:12:27.574Z,1761538347.574 [DAT](INFO): DAT read: user:102> 2025-10-27T04:12:27.575Z,1761538347.575 [DAT](INFO): DAT read: Tx time:04:12:26.6309 2025-10-27T04:12:27.575Z,1761538347.575 [DAT](INFO): Ping request sent. 2025-10-27T04:12:27.576Z,1761538347.576 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:27.576Z,1761538347.576 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:27.577Z,1761538347.577 [DAT](INFO): direction in FSK: [0.971121,-0.028823,0.236838] 2025-10-27T04:12:27.577Z,1761538347.577 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:27.577Z,1761538347.577 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:27.585Z,1761538347.585 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:27.585Z,1761538347.585 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:27.647Z,1761538347.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.599998 m, deltaT: 3.778537 s, deltaX: -2.200005 m, approachRate: -0.582237 m/s, rangeRepo size: 4 2025-10-27T04:12:27.649Z,1761538347.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.278099 m, bearing: 277.476813 deg, lat: 36.779392 deg, lon: -121.859555 deg, deltaT: 3.778537 s, deltaX: -2.196114 m, approachRate: -0.581207 m/s, posRepo size: 4 2025-10-27T04:12:27.650Z,1761538347.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.28 m. 2025-10-27T04:12:27.661Z,1761538347.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.278099 m, nav range: 67.739067 m, bearing: 277.680476 deg, approach rate: 0.000000 m/s, LOS rate: 0.046898 deg/s, cmd heading: 278.474517 deg, new cmd heading: 278.537734 deg. 2025-10-27T04:12:27.662Z,1761538347.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861401 target range: 70.278099 and range: 70.60 m. 2025-10-27T04:12:28.028Z,1761538348.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128773,0.983197,0.129388],[-0.991219,0.123661,0.046827],[0.030040,-0.134282,0.990488]] 2025-10-27T04:12:28.056Z,1761538348.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.28 m. 2025-10-27T04:12:28.058Z,1761538348.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.278099 m, nav range: 67.479866 m, bearing: 277.700966 deg, approach rate: -0.571889 m/s, LOS rate: 0.045382 deg/s, cmd heading: 278.537737 deg, new cmd heading: 278.599443 deg. 2025-10-27T04:12:28.059Z,1761538348.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862478 target range: 70.278099 and range: 70.60 m. 2025-10-27T04:12:28.429Z,1761538348.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130778,0.983051,0.128479],[-0.990963,0.125719,0.046762],[0.029817,-0.133433,0.990609]] 2025-10-27T04:12:28.498Z,1761538348.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:28.502Z,1761538348.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.28 m. 2025-10-27T04:12:28.508Z,1761538348.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.278099 m, nav range: 67.236534 m, bearing: 277.716702 deg, approach rate: -0.545713 m/s, LOS rate: 0.035419 deg/s, cmd heading: 278.599455 deg, new cmd heading: 278.646834 deg. 2025-10-27T04:12:28.510Z,1761538348.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863305 target range: 70.278099 and range: 70.60 m. 2025-10-27T04:12:28.572Z,1761538348.572 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:28.572Z,1761538348.572 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:28.573Z,1761538348.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:28.824Z,1761538348.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248408 2025-10-27T04:12:28.836Z,1761538348.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132734,0.982760,0.128706],[-0.990710,0.127675,0.046826],[0.029586,-0.133726,0.990577]] 2025-10-27T04:12:28.875Z,1761538348.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.28 m. 2025-10-27T04:12:28.881Z,1761538348.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.278099 m, nav range: 67.029839 m, bearing: 277.729807 deg, approach rate: -0.554150 m/s, LOS rate: 0.035241 deg/s, cmd heading: 278.646829 deg, new cmd heading: 278.686263 deg. 2025-10-27T04:12:28.882Z,1761538348.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863993 target range: 70.278099 and range: 70.60 m. 2025-10-27T04:12:29.079Z,1761538349.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503048 2025-10-27T04:12:29.238Z,1761538349.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135323,0.982491,0.128058],[-0.990374,0.130332,0.046622],[0.029116,-0.133135,0.990670]] 2025-10-27T04:12:29.264Z,1761538349.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.28 m. 2025-10-27T04:12:29.266Z,1761538349.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.278099 m, nav range: 66.809258 m, bearing: 277.743388 deg, approach rate: -0.566595 m/s, LOS rate: 0.035001 deg/s, cmd heading: 278.686253 deg, new cmd heading: 278.727132 deg. 2025-10-27T04:12:29.268Z,1761538349.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.864706 target range: 70.278099 and range: 70.60 m. 2025-10-27T04:12:29.331Z,1761538349.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755162 2025-10-27T04:12:29.580Z,1761538349.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004369 2025-10-27T04:12:29.641Z,1761538349.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137853,0.982243,0.127264],[-0.990034,0.132919,0.046522],[0.028780,-0.132409,0.990777]] 2025-10-27T04:12:29.685Z,1761538349.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.28 m. 2025-10-27T04:12:29.688Z,1761538349.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.278099 m, nav range: 66.587158 m, bearing: 277.752480 deg, approach rate: -0.527805 m/s, LOS rate: 0.021679 deg/s, cmd heading: 278.727125 deg, new cmd heading: 278.754492 deg. 2025-10-27T04:12:29.689Z,1761538349.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865184 target range: 70.278099 and range: 70.60 m. 2025-10-27T04:12:29.832Z,1761538349.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256292 2025-10-27T04:12:30.047Z,1761538350.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139545,0.982035,0.127018],[-0.989803,0.134632,0.046521],[0.028585,-0.132215,0.990809]] 2025-10-27T04:12:30.072Z,1761538350.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.28 m. 2025-10-27T04:12:30.074Z,1761538350.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.278099 m, nav range: 66.382668 m, bearing: 277.760605 deg, approach rate: -0.528542 m/s, LOS rate: 0.021063 deg/s, cmd heading: 278.754500 deg, new cmd heading: 278.778948 deg. 2025-10-27T04:12:30.075Z,1761538350.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865611 target range: 70.278099 and range: 70.60 m. 2025-10-27T04:12:30.084Z,1761538350.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508402 2025-10-27T04:12:30.336Z,1761538350.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760328 2025-10-27T04:12:30.450Z,1761538350.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141258,0.981712,0.127622],[-0.989572,0.136352,0.046432],[0.028181,-0.132850,0.990735]] 2025-10-27T04:12:30.534Z,1761538350.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:30.536Z,1761538350.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.28 m. 2025-10-27T04:12:30.539Z,1761538350.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.278099 m, nav range: 66.135490 m, bearing: 277.769595 deg, approach rate: -0.531730 m/s, LOS rate: 0.019412 deg/s, cmd heading: 278.778952 deg, new cmd heading: 278.806023 deg. 2025-10-27T04:12:30.540Z,1761538350.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866083 target range: 70.278099 and range: 70.60 m. 2025-10-27T04:12:30.588Z,1761538350.588 [DAT](INFO): DAT read: Rx Time:04:12:29.1267 2025-10-27T04:12:30.589Z,1761538350.589 [DAT](INFO): Rx dataTimestamp_ set to:1761538350.588738 2025-10-27T04:12:30.590Z,1761538350.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014003 2025-10-27T04:12:30.840Z,1761538350.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264248 2025-10-27T04:12:30.855Z,1761538350.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143057,0.981370,0.128247],[-0.989329,0.138178,0.046211],[0.027629,-0.133489,0.990665]] 2025-10-27T04:12:30.885Z,1761538350.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.28 m. 2025-10-27T04:12:30.888Z,1761538350.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.278099 m, nav range: 65.944565 m, bearing: 277.776280 deg, approach rate: -0.547385 m/s, LOS rate: 0.019221 deg/s, cmd heading: 278.806027 deg, new cmd heading: 278.826140 deg. 2025-10-27T04:12:30.889Z,1761538350.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866434 target range: 70.278099 and range: 70.60 m. 2025-10-27T04:12:31.104Z,1761538351.104 [DAT](INFO): DAT read: 04:12:29.1267 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 423, 0.20,-2.937, 1.672,-2.713,-2.999, PHS= 0.164,-1.567, 0.242, RAW= 152.2, 13.0, CAL= 152.3, 14.5, ROT= 357.7, -14.5 2025-10-27T04:12:31.105Z,1761538351.105 [DAT](INFO): got valid direction response: 04:12:29.1267 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 423, 0.20,-2.937, 1.672,-2.713,-2.999, PHS= 0.164,-1.567, 0.242, RAW= 152.2, 13.0, CAL= 152.3, 14.5, ROT= 357.7, -14.5 2025-10-27T04:12:31.106Z,1761538351.106 [DAT](INFO): DAT read: Bearing 91.7, -2.3 (Local) 2025-10-27T04:12:31.107Z,1761538351.107 [DAT](INFO): Local bearing/azimuth received: Bearing 91.7, -2.3 (Local) 2025-10-27T04:12:31.109Z,1761538351.109 [DAT](INFO): DAT read: Range 11 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.4 m/s 2025-10-27T04:12:31.110Z,1761538351.110 [DAT](INFO): DAT read: user:103> 2025-10-27T04:12:31.112Z,1761538351.112 [DAT](INFO): DAT read: Tx time:04:12:30.2309 2025-10-27T04:12:31.112Z,1761538351.112 [DAT](INFO): Ping request sent. 2025-10-27T04:12:31.112Z,1761538351.112 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:31.113Z,1761538351.113 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:31.114Z,1761538351.114 [DAT](INFO): direction in FSK: [0.967368,-0.038853,0.250380] 2025-10-27T04:12:31.115Z,1761538351.115 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:31.115Z,1761538351.115 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:31.118Z,1761538351.118 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:31.118Z,1761538351.118 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:31.258Z,1761538351.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144855,0.981015,0.128944],[-0.989079,0.139985,0.046115],[0.027189,-0.134216,0.990579]] 2025-10-27T04:12:31.298Z,1761538351.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.699997 m, deltaT: 3.532001 s, deltaX: -1.900002 m, approachRate: -0.537939 m/s, rangeRepo size: 4 2025-10-27T04:12:31.304Z,1761538351.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.386131 m, bearing: 278.040554 deg, lat: 36.779392 deg, lon: -121.859554 deg, deltaT: 3.532001 s, deltaX: -1.891968 m, approachRate: -0.535665 m/s, posRepo size: 4 2025-10-27T04:12:31.305Z,1761538351.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m. 2025-10-27T04:12:31.312Z,1761538351.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.386131 m, nav range: 65.645828 m, bearing: 277.793644 deg, approach rate: 0.000000 m/s, LOS rate: 0.019221 deg/s, cmd heading: 278.826135 deg, new cmd heading: 278.849894 deg. 2025-10-27T04:12:31.313Z,1761538351.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866849 target range: 68.386131 and range: 68.70 m. 2025-10-27T04:12:31.665Z,1761538351.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145637,0.980599,0.131204],[-0.988953,0.140596,0.046948],[0.027590,-0.136592,0.990243]] 2025-10-27T04:12:31.717Z,1761538351.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m. 2025-10-27T04:12:31.737Z,1761538351.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.386131 m, nav range: 65.406250 m, bearing: 277.796330 deg, approach rate: -0.570213 m/s, LOS rate: 0.006416 deg/s, cmd heading: 278.849904 deg, new cmd heading: 278.857992 deg. 2025-10-27T04:12:31.738Z,1761538351.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866990 target range: 68.386131 and range: 68.70 m. 2025-10-27T04:12:32.065Z,1761538352.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146689,0.980417,0.131399],[-0.988806,0.141670,0.046819],[0.027287,-0.136796,0.990223]] 2025-10-27T04:12:32.084Z,1761538352.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m. 2025-10-27T04:12:32.087Z,1761538352.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.386131 m, nav range: 65.200264 m, bearing: 277.798462 deg, approach rate: -0.561767 m/s, LOS rate: 0.005833 deg/s, cmd heading: 278.857991 deg, new cmd heading: 278.864407 deg. 2025-10-27T04:12:32.088Z,1761538352.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867102 target range: 68.386131 and range: 68.70 m. 2025-10-27T04:12:32.475Z,1761538352.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147704,0.980069,0.132846],[-0.988648,0.142565,0.047446],[0.027562,-0.138346,0.990000]] 2025-10-27T04:12:32.544Z,1761538352.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:32.546Z,1761538352.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m. 2025-10-27T04:12:32.549Z,1761538352.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.386131 m, nav range: 64.943466 m, bearing: 277.803323 deg, approach rate: -0.556181 m/s, LOS rate: 0.010569 deg/s, cmd heading: 278.864411 deg, new cmd heading: 278.879050 deg. 2025-10-27T04:12:32.550Z,1761538352.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867358 target range: 68.386131 and range: 68.70 m. 2025-10-27T04:12:32.608Z,1761538352.608 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:32.608Z,1761538352.608 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:32.609Z,1761538352.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:32.860Z,1761538352.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747600 2025-10-27T04:12:32.913Z,1761538352.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m. 2025-10-27T04:12:32.916Z,1761538352.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.386131 m, nav range: 64.739426 m, bearing: 277.807212 deg, approach rate: -0.555611 m/s, LOS rate: 0.010624 deg/s, cmd heading: 278.879055 deg, new cmd heading: 278.890760 deg. 2025-10-27T04:12:32.917Z,1761538352.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867562 target range: 68.386131 and range: 68.70 m. 2025-10-27T04:12:33.113Z,1761538353.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000394 2025-10-27T04:12:33.311Z,1761538353.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m. 2025-10-27T04:12:33.314Z,1761538353.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.386131 m, nav range: 64.517975 m, bearing: 277.811461 deg, approach rate: -0.556598 m/s, LOS rate: 0.010716 deg/s, cmd heading: 278.890749 deg, new cmd heading: 278.903539 deg. 2025-10-27T04:12:33.315Z,1761538353.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867785 target range: 68.386131 and range: 68.70 m. 2025-10-27T04:12:33.365Z,1761538353.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253057 2025-10-27T04:12:33.616Z,1761538353.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503661 2025-10-27T04:12:33.681Z,1761538353.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149966,0.979007,0.138044],[-0.988273,0.144375,0.049715],[0.028741,-0.143881,0.989178]] 2025-10-27T04:12:33.737Z,1761538353.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m. 2025-10-27T04:12:33.756Z,1761538353.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.386131 m, nav range: 64.260048 m, bearing: 277.815209 deg, approach rate: -0.605498 m/s, LOS rate: 0.008833 deg/s, cmd heading: 278.903535 deg, new cmd heading: 278.914822 deg. 2025-10-27T04:12:33.757Z,1761538353.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.867982 target range: 68.386131 and range: 68.70 m. 2025-10-27T04:12:33.868Z,1761538353.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755804 2025-10-27T04:12:34.092Z,1761538354.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150346,0.978749,0.139448],[-0.988201,0.144607,0.050474],[0.029237,-0.145391,0.988942]] 2025-10-27T04:12:34.110Z,1761538354.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m. 2025-10-27T04:12:34.113Z,1761538354.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.386131 m, nav range: 64.034134 m, bearing: 277.818435 deg, approach rate: -0.606038 m/s, LOS rate: 0.008686 deg/s, cmd heading: 278.914818 deg, new cmd heading: 278.924532 deg. 2025-10-27T04:12:34.114Z,1761538354.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868152 target range: 68.386131 and range: 68.70 m. 2025-10-27T04:12:34.120Z,1761538354.120 [DAT](INFO): DAT read: Rx Time:04:12:32.7242 2025-10-27T04:12:34.121Z,1761538354.121 [DAT](INFO): Rx dataTimestamp_ set to:1761538354.120282 2025-10-27T04:12:34.121Z,1761538354.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008914 2025-10-27T04:12:34.372Z,1761538354.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259653 2025-10-27T04:12:34.616Z,1761538354.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:34.618Z,1761538354.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m. 2025-10-27T04:12:34.621Z,1761538354.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.386131 m, nav range: 63.711815 m, bearing: 277.827256 deg, approach rate: -0.634107 m/s, LOS rate: 0.017441 deg/s, cmd heading: 278.924544 deg, new cmd heading: 278.951140 deg. 2025-10-27T04:12:34.622Z,1761538354.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868616 target range: 68.386131 and range: 68.70 m. 2025-10-27T04:12:34.630Z,1761538354.630 [DAT](INFO): DAT read: 04:12:32.7242 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.01,-3.093, 1.532,-2.850,-3.119, PHS= 0.127,-1.587, 0.225, RAW= 152.8, 13.9, CAL= 153.0, 15.6, ROT= 357.0, -15.6 2025-10-27T04:12:34.631Z,1761538354.631 [DAT](INFO): got valid direction response: 04:12:32.7242 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.01,-3.093, 1.532,-2.850,-3.119, PHS= 0.127,-1.587, 0.225, RAW= 152.8, 13.9, CAL= 153.0, 15.6, ROT= 357.0, -15.6 2025-10-27T04:12:34.632Z,1761538354.632 [DAT](INFO): DAT read: Bearing 93.2, -3.1 (Local) 2025-10-27T04:12:34.632Z,1761538354.632 [DAT](INFO): Local bearing/azimuth received: Bearing 93.2, -3.1 (Local) 2025-10-27T04:12:34.634Z,1761538354.634 [DAT](INFO): DAT read: Range 11 to 50 : 66.8 m (Round-trip 89.1 ms) speed 0.5 m/s 2025-10-27T04:12:34.634Z,1761538354.634 [DAT](INFO): DAT read: user:104> 2025-10-27T04:12:34.635Z,1761538354.635 [DAT](INFO): DAT read: Tx time:04:12:33.8309 2025-10-27T04:12:34.635Z,1761538354.635 [DAT](INFO): Ping request sent. 2025-10-27T04:12:34.636Z,1761538354.636 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:34.636Z,1761538354.636 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:34.637Z,1761538354.637 [DAT](INFO): direction in FSK: [0.961843,-0.050408,0.268920] 2025-10-27T04:12:34.637Z,1761538354.637 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:34.637Z,1761538354.637 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:34.643Z,1761538354.643 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:34.643Z,1761538354.643 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:35.033Z,1761538355.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 3.528020 s, deltaX: -1.899994 m, approachRate: -0.538544 m/s, rangeRepo size: 4 2025-10-27T04:12:35.035Z,1761538355.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.492981 m, bearing: 278.004321 deg, lat: 36.779392 deg, lon: -121.859554 deg, deltaT: 3.528020 s, deltaX: -1.893150 m, approachRate: -0.536604 m/s, posRepo size: 4 2025-10-27T04:12:35.035Z,1761538355.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.49 m. 2025-10-27T04:12:35.038Z,1761538355.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.492981 m, nav range: 63.465336 m, bearing: 277.834061 deg, approach rate: 0.000000 m/s, LOS rate: 0.017441 deg/s, cmd heading: 278.951128 deg, new cmd heading: 278.972790 deg. 2025-10-27T04:12:35.039Z,1761538355.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868994 target range: 66.492981 and range: 66.80 m. 2025-10-27T04:12:35.368Z,1761538355.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149745,0.978661,0.140712],[-0.988224,0.143619,0.052785],[0.031449,-0.146959,0.988642]] 2025-10-27T04:12:35.388Z,1761538355.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.49 m. 2025-10-27T04:12:35.390Z,1761538355.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.492981 m, nav range: 63.223587 m, bearing: 277.840917 deg, approach rate: -0.679444 m/s, LOS rate: 0.019342 deg/s, cmd heading: 278.972793 deg, new cmd heading: 278.993439 deg. 2025-10-27T04:12:35.392Z,1761538355.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869354 target range: 66.492981 and range: 66.80 m. 2025-10-27T04:12:35.765Z,1761538355.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149179,0.978731,0.140826],[-0.988277,0.142902,0.053734],[0.032467,-0.147191,0.988575]] 2025-10-27T04:12:35.817Z,1761538355.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.49 m. 2025-10-27T04:12:35.824Z,1761538355.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.492981 m, nav range: 62.954910 m, bearing: 277.845768 deg, approach rate: -0.626337 m/s, LOS rate: 0.011357 deg/s, cmd heading: 278.993447 deg, new cmd heading: 279.008063 deg. 2025-10-27T04:12:35.825Z,1761538355.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869609 target range: 66.492981 and range: 66.80 m. 2025-10-27T04:12:36.166Z,1761538356.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148642,0.978619,0.142163],[-0.988322,0.142136,0.054928],[0.033547,-0.148668,0.988318]] 2025-10-27T04:12:36.192Z,1761538356.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.49 m. 2025-10-27T04:12:36.211Z,1761538356.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.492981 m, nav range: 62.701000 m, bearing: 277.850509 deg, approach rate: -0.676134 m/s, LOS rate: 0.012676 deg/s, cmd heading: 279.008064 deg, new cmd heading: 279.022344 deg. 2025-10-27T04:12:36.212Z,1761538356.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869859 target range: 66.492981 and range: 66.80 m. 2025-10-27T04:12:36.570Z,1761538356.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148074,0.978668,0.142417],[-0.988371,0.141404,0.055930],[0.034598,-0.149042,0.988225]] 2025-10-27T04:12:36.613Z,1761538356.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.49 m. 2025-10-27T04:12:36.616Z,1761538356.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.492981 m, nav range: 62.425056 m, bearing: 277.861663 deg, approach rate: -0.655796 m/s, LOS rate: 0.026626 deg/s, cmd heading: 279.022353 deg, new cmd heading: 279.055964 deg. 2025-10-27T04:12:36.617Z,1761538356.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870445 target range: 66.492981 and range: 66.80 m. 2025-10-27T04:12:36.980Z,1761538356.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147754,0.978687,0.142619],[-0.988385,0.140932,0.056858],[0.035547,-0.149363,0.988143]] 2025-10-27T04:12:37.027Z,1761538357.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:37.029Z,1761538357.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.49 m. 2025-10-27T04:12:37.036Z,1761538357.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.492981 m, nav range: 62.154911 m, bearing: 277.872757 deg, approach rate: -0.649299 m/s, LOS rate: 0.026779 deg/s, cmd heading: 279.055957 deg, new cmd heading: 279.089382 deg. 2025-10-27T04:12:37.037Z,1761538357.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871028 target range: 66.492981 and range: 66.80 m. 2025-10-27T04:12:37.152Z,1761538357.152 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:37.152Z,1761538357.152 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:37.152Z,1761538357.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:37.388Z,1761538357.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147476,0.978673,0.143000],[-0.988395,0.140506,0.057729],[0.036406,-0.149854,0.988038]] 2025-10-27T04:12:37.404Z,1761538357.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768378 2025-10-27T04:12:37.408Z,1761538357.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.49 m. 2025-10-27T04:12:37.411Z,1761538357.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.492981 m, nav range: 61.904400 m, bearing: 277.883191 deg, approach rate: -0.660849 m/s, LOS rate: 0.027637 deg/s, cmd heading: 279.089371 deg, new cmd heading: 279.120800 deg. 2025-10-27T04:12:37.412Z,1761538357.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871577 target range: 66.492981 and range: 66.80 m. 2025-10-27T04:12:37.656Z,1761538357.656 [DAT](INFO): DAT read: Rx Time:04:12:36.3209 2025-10-27T04:12:37.657Z,1761538357.657 [DAT](INFO): Rx dataTimestamp_ set to:1761538357.656437 2025-10-27T04:12:37.657Z,1761538357.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021689 2025-10-27T04:12:37.854Z,1761538357.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.49 m. 2025-10-27T04:12:37.860Z,1761538357.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.492981 m, nav range: 61.632515 m, bearing: 277.889784 deg, approach rate: -0.610296 m/s, LOS rate: 0.014863 deg/s, cmd heading: 279.120789 deg, new cmd heading: 279.140654 deg. 2025-10-27T04:12:37.861Z,1761538357.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871923 target range: 66.492981 and range: 66.80 m. 2025-10-27T04:12:37.908Z,1761538357.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272424 2025-10-27T04:12:38.200Z,1761538358.200 [DAT](INFO): DAT read: 04:12:36.3209 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.12, 0.169,-1.492, 0.425, 0.118, PHS= 0.153,-1.565, 0.263, RAW= 153.1, 12.9, CAL= 153.2, 14.4, ROT= 356.8, -14.4 2025-10-27T04:12:38.201Z,1761538358.201 [DAT](INFO): got valid direction response: 04:12:36.3209 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.12, 0.169,-1.492, 0.425, 0.118, PHS= 0.153,-1.565, 0.263, RAW= 153.1, 12.9, CAL= 153.2, 14.4, ROT= 356.8, -14.4 2025-10-27T04:12:38.202Z,1761538358.202 [DAT](INFO): DAT read: Bearing 92.7, -3.1 (Local) 2025-10-27T04:12:38.202Z,1761538358.202 [DAT](INFO): Local bearing/azimuth received: Bearing 92.7, -3.1 (Local) 2025-10-27T04:12:38.208Z,1761538358.208 [DAT](INFO): DAT read: Range 11 to 50 : 64.4 m (Round-trip 85.9 ms) speed 0.5 m/s 2025-10-27T04:12:38.208Z,1761538358.208 [DAT](INFO): DAT read: user:105> 2025-10-27T04:12:38.209Z,1761538358.209 [DAT](INFO): DAT read: Tx time:04:12:37.4309 2025-10-27T04:12:38.209Z,1761538358.209 [DAT](INFO): Ping request sent. 2025-10-27T04:12:38.210Z,1761538358.210 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:38.210Z,1761538358.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:38.213Z,1761538358.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147572,0.978710,0.142650],[-0.988326,0.140400,0.059152],[0.037864,-0.149714,0.988004]] 2025-10-27T04:12:38.215Z,1761538358.215 [DAT](INFO): direction in FSK: [0.967073,-0.054068,0.248690] 2025-10-27T04:12:38.215Z,1761538358.215 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:38.216Z,1761538358.216 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:38.243Z,1761538358.243 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:38.243Z,1761538358.243 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:38.303Z,1761538358.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.400002 m, deltaT: 3.537695 s, deltaX: -2.400002 m, approachRate: -0.678408 m/s, rangeRepo size: 4 2025-10-27T04:12:38.305Z,1761538358.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.102165 m, bearing: 277.522414 deg, lat: 36.779390 deg, lon: -121.859555 deg, deltaT: 3.537695 s, deltaX: -2.390816 m, approachRate: -0.675812 m/s, posRepo size: 4 2025-10-27T04:12:38.306Z,1761538358.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m. 2025-10-27T04:12:38.313Z,1761538358.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.102165 m, nav range: 61.360050 m, bearing: 277.667883 deg, approach rate: 0.000000 m/s, LOS rate: 0.014863 deg/s, cmd heading: 279.140652 deg, new cmd heading: 279.160129 deg. 2025-10-27T04:12:38.314Z,1761538358.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872263 target range: 64.102165 and range: 64.40 m. 2025-10-27T04:12:38.660Z,1761538358.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147941,0.978680,0.142476],[-0.988249,0.140689,0.059752],[0.038433,-0.149642,0.987993]] 2025-10-27T04:12:38.727Z,1761538358.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m. 2025-10-27T04:12:38.730Z,1761538358.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.102165 m, nav range: 61.091351 m, bearing: 277.675931 deg, approach rate: -0.644936 m/s, LOS rate: 0.019402 deg/s, cmd heading: 279.160131 deg, new cmd heading: 279.184381 deg. 2025-10-27T04:12:38.731Z,1761538358.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872687 target range: 64.102165 and range: 64.40 m. 2025-10-27T04:12:39.058Z,1761538359.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148209,0.978626,0.142565],[-0.988181,0.140840,0.060519],[0.039147,-0.149850,0.987934]] 2025-10-27T04:12:39.074Z,1761538359.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:39.077Z,1761538359.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m. 2025-10-27T04:12:39.101Z,1761538359.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.102165 m, nav range: 60.855289 m, bearing: 277.682997 deg, approach rate: -0.638685 m/s, LOS rate: 0.019193 deg/s, cmd heading: 279.184392 deg, new cmd heading: 279.205673 deg. 2025-10-27T04:12:39.102Z,1761538359.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873058 target range: 64.102165 and range: 64.40 m. 2025-10-27T04:12:39.168Z,1761538359.168 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:39.168Z,1761538359.168 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:39.168Z,1761538359.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:39.420Z,1761538359.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.210376 2025-10-27T04:12:39.487Z,1761538359.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149070,0.978507,0.142489],[-0.988037,0.141639,0.061002],[0.039509,-0.149878,0.987915]] 2025-10-27T04:12:39.557Z,1761538359.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m. 2025-10-27T04:12:39.571Z,1761538359.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.102165 m, nav range: 60.557560 m, bearing: 277.691742 deg, approach rate: -0.620057 m/s, LOS rate: 0.018302 deg/s, cmd heading: 279.205675 deg, new cmd heading: 279.232038 deg. 2025-10-27T04:12:39.573Z,1761538359.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873518 target range: 64.102165 and range: 64.40 m. 2025-10-27T04:12:39.672Z,1761538359.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.462740 2025-10-27T04:12:39.924Z,1761538359.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714369 2025-10-27T04:12:39.935Z,1761538359.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m. 2025-10-27T04:12:39.938Z,1761538359.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.102165 m, nav range: 60.333012 m, bearing: 277.698106 deg, approach rate: -0.594172 m/s, LOS rate: 0.016903 deg/s, cmd heading: 279.232040 deg, new cmd heading: 279.251204 deg. 2025-10-27T04:12:39.939Z,1761538359.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873853 target range: 64.102165 and range: 64.40 m. 2025-10-27T04:12:40.177Z,1761538360.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966911 2025-10-27T04:12:40.281Z,1761538360.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151312,0.978058,0.143200],[-0.987657,0.143658,0.062419],[0.040477,-0.150878,0.987723]] 2025-10-27T04:12:40.306Z,1761538360.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m. 2025-10-27T04:12:40.309Z,1761538360.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.102165 m, nav range: 60.117996 m, bearing: 277.703770 deg, approach rate: -0.578739 m/s, LOS rate: 0.015300 deg/s, cmd heading: 279.251191 deg, new cmd heading: 279.268244 deg. 2025-10-27T04:12:40.310Z,1761538360.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874150 target range: 64.102165 and range: 64.40 m. 2025-10-27T04:12:40.428Z,1761538360.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218282 2025-10-27T04:12:40.680Z,1761538360.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470353 2025-10-27T04:12:40.688Z,1761538360.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152608,0.977833,0.143362],[-0.987447,0.144886,0.062903],[0.040737,-0.151162,0.987669]] 2025-10-27T04:12:40.750Z,1761538360.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m. 2025-10-27T04:12:40.753Z,1761538360.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.102165 m, nav range: 59.866661 m, bearing: 277.713601 deg, approach rate: -0.566205 m/s, LOS rate: 0.022239 deg/s, cmd heading: 279.268240 deg, new cmd heading: 279.297855 deg. 2025-10-27T04:12:40.754Z,1761538360.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874667 target range: 64.102165 and range: 64.40 m. 2025-10-27T04:12:40.932Z,1761538360.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722261 2025-10-27T04:12:41.122Z,1761538361.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:41.124Z,1761538361.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m. 2025-10-27T04:12:41.127Z,1761538361.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.102165 m, nav range: 59.657703 m, bearing: 277.721837 deg, approach rate: -0.558677 m/s, LOS rate: 0.022098 deg/s, cmd heading: 279.297855 deg, new cmd heading: 279.322650 deg. 2025-10-27T04:12:41.128Z,1761538361.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875100 target range: 64.102165 and range: 64.40 m. 2025-10-27T04:12:41.186Z,1761538361.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975886 2025-10-27T04:12:41.436Z,1761538361.436 [DAT](INFO): DAT read: Rx Time:04:12:39.9178 2025-10-27T04:12:41.437Z,1761538361.437 [DAT](INFO): Rx dataTimestamp_ set to:1761538361.436395 2025-10-27T04:12:41.437Z,1761538361.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227621 2025-10-27T04:12:41.586Z,1761538361.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157438,0.977135,0.142898],[-0.986671,0.149613,0.064009],[0.041166,-0.151070,0.987665]] 2025-10-27T04:12:41.629Z,1761538361.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m. 2025-10-27T04:12:41.648Z,1761538361.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.102165 m, nav range: 59.384865 m, bearing: 277.727299 deg, approach rate: -0.540555 m/s, LOS rate: 0.010873 deg/s, cmd heading: 279.322662 deg, new cmd heading: 279.339126 deg. 2025-10-27T04:12:41.649Z,1761538361.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875388 target range: 64.102165 and range: 64.40 m. 2025-10-27T04:12:41.689Z,1761538361.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478813 2025-10-27T04:12:41.947Z,1761538361.947 [DAT](INFO): DAT read: 04:12:39.9178 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.25,-1.768, 2.857,-1.494,-1.842, PHS= 0.176,-1.539, 0.304, RAW= 153.6, 11.9, CAL= 153.6, 13.2, ROT= 356.4, -13.2 2025-10-27T04:12:41.948Z,1761538361.948 [DAT](INFO): got valid direction response: 04:12:39.9178 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.25,-1.768, 2.857,-1.494,-1.842, PHS= 0.176,-1.539, 0.304, RAW= 153.6, 11.9, CAL= 153.6, 13.2, ROT= 356.4, -13.2 2025-10-27T04:12:41.949Z,1761538361.949 [DAT](INFO): DAT read: Bearing 92.4, -3.2 (Local) 2025-10-27T04:12:41.950Z,1761538361.950 [DAT](INFO): Local bearing/azimuth received: Bearing 92.4, -3.2 (Local) 2025-10-27T04:12:41.951Z,1761538361.951 [DAT](INFO): DAT read: Range 11 to 50 : 62.1 m (Round-trip 82.8 ms) speed 0.4 m/s 2025-10-27T04:12:41.952Z,1761538361.952 [DAT](INFO): DAT read: user:106> 2025-10-27T04:12:41.953Z,1761538361.953 [DAT](INFO): DAT read: Tx time:04:12:41.0309 2025-10-27T04:12:41.953Z,1761538361.953 [DAT](INFO): Ping request sent. 2025-10-27T04:12:41.953Z,1761538361.953 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:41.953Z,1761538361.953 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:41.954Z,1761538361.954 [DAT](INFO): direction in FSK: [0.971658,-0.061132,0.228351] 2025-10-27T04:12:41.954Z,1761538361.954 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:41.955Z,1761538361.955 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:41.958Z,1761538361.958 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:41.958Z,1761538361.958 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:42.032Z,1761538362.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159124,0.976779,0.143465],[-0.986397,0.151228,0.064426],[0.041234,-0.151765,0.987556]] 2025-10-27T04:12:42.090Z,1761538362.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 3.778685 s, deltaX: -2.300003 m, approachRate: -0.608678 m/s, rangeRepo size: 4 2025-10-27T04:12:42.100Z,1761538362.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.808804 m, bearing: 277.630001 deg, lat: 36.779390 deg, lon: -121.859555 deg, deltaT: 3.778685 s, deltaX: -2.293362 m, approachRate: -0.606921 m/s, posRepo size: 4 2025-10-27T04:12:42.101Z,1761538362.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m. 2025-10-27T04:12:42.116Z,1761538362.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.808804 m, nav range: 59.146957 m, bearing: 277.731705 deg, approach rate: 0.000000 m/s, LOS rate: 0.010873 deg/s, cmd heading: 279.339137 deg, new cmd heading: 279.354156 deg. 2025-10-27T04:12:42.117Z,1761538362.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875650 target range: 61.808804 and range: 62.10 m. 2025-10-27T04:12:42.426Z,1761538362.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160536,0.976594,0.143149],[-0.986162,0.152619,0.064745],[0.041382,-0.151562,0.987581]] 2025-10-27T04:12:42.445Z,1761538362.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m. 2025-10-27T04:12:42.449Z,1761538362.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.808804 m, nav range: 58.944031 m, bearing: 277.735209 deg, approach rate: -0.571093 m/s, LOS rate: 0.009896 deg/s, cmd heading: 279.354163 deg, new cmd heading: 279.364713 deg. 2025-10-27T04:12:42.450Z,1761538362.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875834 target range: 61.808804 and range: 62.10 m. 2025-10-27T04:12:42.871Z,1761538362.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m. 2025-10-27T04:12:42.874Z,1761538362.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.808804 m, nav range: 58.719387 m, bearing: 277.739007 deg, approach rate: -0.527297 m/s, LOS rate: 0.008949 deg/s, cmd heading: 279.364709 deg, new cmd heading: 279.376146 deg. 2025-10-27T04:12:42.875Z,1761538362.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876034 target range: 61.808804 and range: 62.10 m. 2025-10-27T04:12:43.226Z,1761538363.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163502,0.976267,0.142023],[-0.985666,0.155586,0.065236],[0.041591,-0.150654,0.987711]] 2025-10-27T04:12:43.243Z,1761538363.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:43.245Z,1761538363.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m. 2025-10-27T04:12:43.248Z,1761538363.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.808804 m, nav range: 58.522003 m, bearing: 277.741792 deg, approach rate: -0.526890 m/s, LOS rate: 0.007458 deg/s, cmd heading: 279.376157 deg, new cmd heading: 279.384538 deg. 2025-10-27T04:12:43.249Z,1761538363.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876180 target range: 61.808804 and range: 62.10 m. 2025-10-27T04:12:43.459Z,1761538363.459 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:43.459Z,1761538363.459 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:43.459Z,1761538363.459 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:43.630Z,1761538363.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164714,0.976083,0.141881],[-0.985465,0.156795,0.065373],[0.041564,-0.150587,0.987723]] 2025-10-27T04:12:43.681Z,1761538363.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m. 2025-10-27T04:12:43.684Z,1761538363.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.808804 m, nav range: 58.294998 m, bearing: 277.746336 deg, approach rate: -0.520948 m/s, LOS rate: 0.010469 deg/s, cmd heading: 279.384544 deg, new cmd heading: 279.398230 deg. 2025-10-27T04:12:43.685Z,1761538363.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876419 target range: 61.808804 and range: 62.10 m. 2025-10-27T04:12:43.709Z,1761538363.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755715 2025-10-27T04:12:43.960Z,1761538363.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006910 2025-10-27T04:12:44.034Z,1761538364.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165960,0.975917,0.141578],[-0.985253,0.158032,0.065593],[0.041640,-0.150376,0.987752]] 2025-10-27T04:12:44.059Z,1761538364.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m. 2025-10-27T04:12:44.061Z,1761538364.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.808804 m, nav range: 58.098648 m, bearing: 277.750051 deg, approach rate: -0.520158 m/s, LOS rate: 0.009875 deg/s, cmd heading: 279.398232 deg, new cmd heading: 279.409415 deg. 2025-10-27T04:12:44.062Z,1761538364.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876614 target range: 61.808804 and range: 62.10 m. 2025-10-27T04:12:44.212Z,1761538364.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258844 2025-10-27T04:12:44.305Z,1761538364.305 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:12:44.464Z,1761538364.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510993 2025-10-27T04:12:44.478Z,1761538364.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m. 2025-10-27T04:12:44.484Z,1761538364.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.808804 m, nav range: 57.885109 m, bearing: 277.754120 deg, approach rate: -0.508866 m/s, LOS rate: 0.009732 deg/s, cmd heading: 279.409406 deg, new cmd heading: 279.421658 deg. 2025-10-27T04:12:44.485Z,1761538364.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876828 target range: 61.808804 and range: 62.10 m. 2025-10-27T04:12:44.717Z,1761538364.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763369 2025-10-27T04:12:44.842Z,1761538364.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167415,0.975564,0.142292],[-0.985010,0.159429,0.065865],[0.041570,-0.151186,0.987631]] 2025-10-27T04:12:44.895Z,1761538364.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m. 2025-10-27T04:12:44.898Z,1761538364.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.808804 m, nav range: 57.669010 m, bearing: 277.751953 deg, approach rate: -0.518948 m/s, LOS rate: -0.005223 deg/s, cmd heading: 279.421646 deg, new cmd heading: 279.415121 deg. 2025-10-27T04:12:44.898Z,1761538364.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876714 target range: 61.808804 and range: 62.10 m. 2025-10-27T04:12:44.970Z,1761538364.970 [DAT](INFO): DAT read: Rx Time:04:12:43.5154 2025-10-27T04:12:44.971Z,1761538364.971 [DAT](INFO): Rx dataTimestamp_ set to:1761538364.970183 2025-10-27T04:12:44.972Z,1761538364.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019073 2025-10-27T04:12:45.220Z,1761538365.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266830 2025-10-27T04:12:45.246Z,1761538365.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167345,0.975329,0.143975],[-0.985027,0.159268,0.065988],[0.041430,-0.152862,0.987379]] 2025-10-27T04:12:45.262Z,1761538365.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:45.264Z,1761538365.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.81 m. 2025-10-27T04:12:45.283Z,1761538365.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.808804 m, nav range: 57.465454 m, bearing: 277.749907 deg, approach rate: -0.550443 m/s, LOS rate: -0.005552 deg/s, cmd heading: 279.415116 deg, new cmd heading: 279.408956 deg. 2025-10-27T04:12:45.284Z,1761538365.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876606 target range: 61.808804 and range: 62.10 m. 2025-10-27T04:12:45.307Z,1761538365.307 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:12:45.481Z,1761538365.481 [DAT](INFO): DAT read: 04:12:43.5154 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419,-0.32,-1.902, 2.741,-1.615,-1.985, PHS= 0.186,-1.512, 0.326, RAW= 153.9, 11.3, CAL= 153.9, 12.4, ROT= 356.1, -12.4 2025-10-27T04:12:45.484Z,1761538365.484 [DAT](INFO): got valid direction response: 04:12:43.5154 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419,-0.32,-1.902, 2.741,-1.615,-1.985, PHS= 0.186,-1.512, 0.326, RAW= 153.9, 11.3, CAL= 153.9, 12.4, ROT= 356.1, -12.4 2025-10-27T04:12:45.486Z,1761538365.486 [DAT](INFO): DAT read: Bearing 92.4, -3.4 (Local) 2025-10-27T04:12:45.486Z,1761538365.486 [DAT](INFO): Local bearing/azimuth received: Bearing 92.4, -3.4 (Local) 2025-10-27T04:12:45.488Z,1761538365.488 [DAT](INFO): DAT read: Range 11 to 50 : 60.2 m (Round-trip 80.3 ms) speed 0.4 m/s 2025-10-27T04:12:45.490Z,1761538365.490 [DAT](INFO): DAT read: user:107> 2025-10-27T04:12:45.491Z,1761538365.491 [DAT](INFO): DAT read: Tx time:04:12:44.6309 2025-10-27T04:12:45.492Z,1761538365.492 [DAT](INFO): Ping request sent. 2025-10-27T04:12:45.492Z,1761538365.492 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:45.493Z,1761538365.493 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:45.494Z,1761538365.494 [DAT](INFO): direction in FSK: [0.974411,-0.066429,0.214735] 2025-10-27T04:12:45.494Z,1761538365.494 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:45.495Z,1761538365.495 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:45.500Z,1761538365.500 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:45.500Z,1761538365.500 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:45.650Z,1761538365.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167985,0.975067,0.145001],[-0.984922,0.159843,0.066168],[0.041341,-0.153930,0.987217]] 2025-10-27T04:12:45.749Z,1761538365.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.200001 m, deltaT: 3.532233 s, deltaX: -1.899998 m, approachRate: -0.537903 m/s, rangeRepo size: 4 2025-10-27T04:12:45.759Z,1761538365.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.916206 m, bearing: 277.745723 deg, lat: 36.779390 deg, lon: -121.859555 deg, deltaT: 3.532233 s, deltaX: -1.892597 m, approachRate: -0.535808 m/s, posRepo size: 4 2025-10-27T04:12:45.760Z,1761538365.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T04:12:45.762Z,1761538365.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.916206 m, nav range: 57.229572 m, bearing: 277.825653 deg, approach rate: 0.000000 m/s, LOS rate: -0.005552 deg/s, cmd heading: 279.408969 deg, new cmd heading: 279.400908 deg. 2025-10-27T04:12:45.764Z,1761538365.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876466 target range: 59.916206 and range: 60.20 m. 2025-10-27T04:12:46.054Z,1761538366.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168142,0.974806,0.146564],[-0.984909,0.159944,0.066116],[0.041008,-0.155469,0.986989]] 2025-10-27T04:12:46.097Z,1761538366.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T04:12:46.104Z,1761538366.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.916206 m, nav range: 57.040058 m, bearing: 277.824059 deg, approach rate: -0.544296 m/s, LOS rate: -0.004595 deg/s, cmd heading: 279.400909 deg, new cmd heading: 279.396110 deg. 2025-10-27T04:12:46.105Z,1761538366.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876382 target range: 59.916206 and range: 60.20 m. 2025-10-27T04:12:46.474Z,1761538366.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168585,0.974352,0.149054],[-0.984840,0.160237,0.066437],[0.040849,-0.157994,0.986595]] 2025-10-27T04:12:46.524Z,1761538366.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T04:12:46.527Z,1761538366.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.916206 m, nav range: 56.803600 m, bearing: 277.821938 deg, approach rate: -0.553270 m/s, LOS rate: -0.004983 deg/s, cmd heading: 279.396101 deg, new cmd heading: 279.389712 deg. 2025-10-27T04:12:46.546Z,1761538366.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876270 target range: 59.916206 and range: 60.20 m. 2025-10-27T04:12:46.869Z,1761538366.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169062,0.974241,0.149241],[-0.984750,0.160659,0.066760],[0.041063,-0.158252,0.986545]] 2025-10-27T04:12:46.914Z,1761538366.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T04:12:46.917Z,1761538366.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.916206 m, nav range: 56.587284 m, bearing: 277.818176 deg, approach rate: -0.554600 m/s, LOS rate: -0.009680 deg/s, cmd heading: 279.389708 deg, new cmd heading: 279.378381 deg. 2025-10-27T04:12:46.918Z,1761538366.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.876072 target range: 59.916206 and range: 60.20 m. 2025-10-27T04:12:47.267Z,1761538367.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169752,0.974131,0.149173],[-0.984633,0.161352,0.066808],[0.041010,-0.158221,0.986552]] 2025-10-27T04:12:47.284Z,1761538367.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:47.286Z,1761538367.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T04:12:47.289Z,1761538367.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.916206 m, nav range: 56.381390 m, bearing: 277.814423 deg, approach rate: -0.552826 m/s, LOS rate: -0.010115 deg/s, cmd heading: 279.378370 deg, new cmd heading: 279.367068 deg. 2025-10-27T04:12:47.290Z,1761538367.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875875 target range: 59.916206 and range: 60.20 m. 2025-10-27T04:12:47.490Z,1761538367.490 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:47.491Z,1761538367.491 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:47.492Z,1761538367.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:47.673Z,1761538367.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170627,0.973990,0.149097],[-0.984487,0.162238,0.066817],[0.040890,-0.158184,0.986563]] 2025-10-27T04:12:47.740Z,1761538367.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248000 2025-10-27T04:12:47.769Z,1761538367.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T04:12:47.776Z,1761538367.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.916206 m, nav range: 56.118736 m, bearing: 277.810476 deg, approach rate: -0.544147 m/s, LOS rate: -0.008216 deg/s, cmd heading: 279.367059 deg, new cmd heading: 279.355162 deg. 2025-10-27T04:12:47.777Z,1761538367.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875668 target range: 59.916206 and range: 60.20 m. 2025-10-27T04:12:47.992Z,1761538367.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500110 2025-10-27T04:12:48.087Z,1761538368.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171284,0.973925,0.148767],[-0.984376,0.162920,0.066790],[0.040811,-0.157882,0.986614]] 2025-10-27T04:12:48.117Z,1761538368.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T04:12:48.120Z,1761538368.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.916206 m, nav range: 55.923695 m, bearing: 277.807387 deg, approach rate: -0.560172 m/s, LOS rate: -0.008901 deg/s, cmd heading: 279.355174 deg, new cmd heading: 279.345877 deg. 2025-10-27T04:12:48.121Z,1761538368.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875505 target range: 59.916206 and range: 60.20 m. 2025-10-27T04:12:48.244Z,1761538368.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751802 2025-10-27T04:12:48.496Z,1761538368.496 [DAT](INFO): DAT read: Rx Time:04:12:47.1130 2025-10-27T04:12:48.497Z,1761538368.497 [DAT](INFO): Rx dataTimestamp_ set to:1761538368.496304 2025-10-27T04:12:48.497Z,1761538368.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005127 2025-10-27T04:12:48.501Z,1761538368.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171548,0.973985,0.148068],[-0.984333,0.163241,0.066638],[0.040734,-0.157180,0.986730]] 2025-10-27T04:12:48.532Z,1761538368.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T04:12:48.539Z,1761538368.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.916206 m, nav range: 55.699306 m, bearing: 277.803745 deg, approach rate: -0.540642 m/s, LOS rate: -0.008811 deg/s, cmd heading: 279.345885 deg, new cmd heading: 279.334914 deg. 2025-10-27T04:12:48.540Z,1761538368.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875314 target range: 59.916206 and range: 60.20 m. 2025-10-27T04:12:48.750Z,1761538368.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257287 2025-10-27T04:12:48.895Z,1761538368.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171658,0.973939,0.148241],[-0.984313,0.163332,0.066713],[0.040762,-0.157368,0.986698]] 2025-10-27T04:12:49.006Z,1761538369.006 [DAT](INFO): DAT read: 04:12:47.1130 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.19, 2.719, 1.083, 2.995, 2.674, PHS= 0.147,-1.545, 0.278, RAW= 153.7, 12.7, CAL= 153.8, 14.1, ROT= 356.2, -14.1 2025-10-27T04:12:49.007Z,1761538369.007 [DAT](INFO): got valid direction response: 04:12:47.1130 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.19, 2.719, 1.083, 2.995, 2.674, PHS= 0.147,-1.545, 0.278, RAW= 153.7, 12.7, CAL= 153.8, 14.1, ROT= 356.2, -14.1 2025-10-27T04:12:49.008Z,1761538369.008 [DAT](INFO): DAT read: Bearing 93.7, -3.6 (Local) 2025-10-27T04:12:49.008Z,1761538369.008 [DAT](INFO): Local bearing/azimuth received: Bearing 93.7, -3.6 (Local) 2025-10-27T04:12:49.010Z,1761538369.010 [DAT](INFO): DAT read: Range 11 to 50 : 58.5 m (Round-trip 78.0 ms) speed 0.4 m/s 2025-10-27T04:12:49.010Z,1761538369.010 [DAT](INFO): DAT read: user:108> 2025-10-27T04:12:49.011Z,1761538369.011 [DAT](INFO): DAT read: Tx time:04:12:48.2309 2025-10-27T04:12:49.012Z,1761538369.012 [DAT](INFO): Ping request sent. 2025-10-27T04:12:49.012Z,1761538369.012 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:49.012Z,1761538369.012 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:49.013Z,1761538369.013 [DAT](INFO): direction in FSK: [0.967740,-0.064277,0.243615] 2025-10-27T04:12:49.013Z,1761538369.013 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:49.013Z,1761538369.013 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:49.021Z,1761538369.021 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:49.021Z,1761538369.021 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:49.023Z,1761538369.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T04:12:49.026Z,1761538369.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.916206 m, nav range: 55.426853 m, bearing: 277.799199 deg, approach rate: -0.584118 m/s, LOS rate: -0.009795 deg/s, cmd heading: 279.334902 deg, new cmd heading: 279.321196 deg. 2025-10-27T04:12:49.027Z,1761538369.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.875074 target range: 59.916206 and range: 60.20 m. 2025-10-27T04:12:49.338Z,1761538369.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170991,0.973728,0.150387],[-0.984429,0.162527,0.066967],[0.040766,-0.159496,0.986357]] 2025-10-27T04:12:49.362Z,1761538369.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 3.527396 s, deltaX: -1.700001 m, approachRate: -0.481942 m/s, rangeRepo size: 4 2025-10-27T04:12:49.365Z,1761538369.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.222321 m, bearing: 278.382878 deg, lat: 36.779390 deg, lon: -121.859558 deg, deltaT: 3.527396 s, deltaX: -1.693886 m, approachRate: -0.480209 m/s, posRepo size: 4 2025-10-27T04:12:49.365Z,1761538369.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.22 m. 2025-10-27T04:12:49.366Z,1761538369.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:12:49.369Z,1761538369.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.222321 m, nav range: 55.496788 m, bearing: 277.754642 deg, approach rate: 0.000000 m/s, LOS rate: -0.009795 deg/s, cmd heading: 279.321187 deg, new cmd heading: 279.310544 deg. 2025-10-27T04:12:49.369Z,1761538369.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874888 target range: 58.222321 and range: 58.50 m. 2025-10-27T04:12:49.407Z,1761538369.407 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T04:12:49.776Z,1761538369.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170552,0.973766,0.150639],[-0.984488,0.162010,0.067351],[0.041179,-0.159789,0.986292]] 2025-10-27T04:12:49.836Z,1761538369.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:49.838Z,1761538369.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.22 m. 2025-10-27T04:12:49.838Z,1761538369.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:12:49.849Z,1761538369.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.222321 m, nav range: 55.206131 m, bearing: 277.747817 deg, approach rate: -0.609452 m/s, LOS rate: -0.014385 deg/s, cmd heading: 279.310532 deg, new cmd heading: 279.289951 deg. 2025-10-27T04:12:49.850Z,1761538369.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874529 target range: 58.222321 and range: 58.50 m. 2025-10-27T04:12:50.008Z,1761538370.008 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:50.008Z,1761538370.008 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:50.008Z,1761538370.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:50.178Z,1761538370.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170256,0.973825,0.150591],[-0.984521,0.161653,0.067727],[0.041611,-0.159791,0.986273]] 2025-10-27T04:12:50.208Z,1761538370.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.22 m. 2025-10-27T04:12:50.209Z,1761538370.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:12:50.212Z,1761538370.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.222321 m, nav range: 54.973183 m, bearing: 277.742368 deg, approach rate: -0.628893 m/s, LOS rate: -0.014774 deg/s, cmd heading: 279.289960 deg, new cmd heading: 279.273542 deg. 2025-10-27T04:12:50.213Z,1761538370.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.874243 target range: 58.222321 and range: 58.50 m. 2025-10-27T04:12:50.261Z,1761538370.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249114 2025-10-27T04:12:50.512Z,1761538370.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500219 2025-10-27T04:12:50.633Z,1761538370.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.22 m. 2025-10-27T04:12:50.634Z,1761538370.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:12:50.637Z,1761538370.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.222321 m, nav range: 54.722481 m, bearing: 277.736452 deg, approach rate: -0.590009 m/s, LOS rate: -0.013988 deg/s, cmd heading: 279.273540 deg, new cmd heading: 279.255709 deg. 2025-10-27T04:12:50.641Z,1761538370.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873931 target range: 58.222321 and range: 58.50 m. 2025-10-27T04:12:50.764Z,1761538370.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752789 2025-10-27T04:12:51.016Z,1761538371.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004295 2025-10-27T04:12:51.064Z,1761538371.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.22 m. 2025-10-27T04:12:51.064Z,1761538371.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:12:51.071Z,1761538371.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.222321 m, nav range: 54.444504 m, bearing: 277.728154 deg, approach rate: -0.645740 m/s, LOS rate: -0.019375 deg/s, cmd heading: 279.255699 deg, new cmd heading: 279.230678 deg. 2025-10-27T04:12:51.072Z,1761538371.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873495 target range: 58.222321 and range: 58.50 m. 2025-10-27T04:12:51.271Z,1761538371.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259672 2025-10-27T04:12:51.388Z,1761538371.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167983,0.973892,0.152695],[-0.984832,0.158966,0.069541],[0.043452,-0.162061,0.985824]] 2025-10-27T04:12:51.408Z,1761538371.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.22 m. 2025-10-27T04:12:51.408Z,1761538371.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:12:51.411Z,1761538371.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.222321 m, nav range: 54.212952 m, bearing: 277.721744 deg, approach rate: -0.672864 m/s, LOS rate: -0.018705 deg/s, cmd heading: 279.230673 deg, new cmd heading: 279.211363 deg. 2025-10-27T04:12:51.412Z,1761538371.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.873158 target range: 58.222321 and range: 58.50 m. 2025-10-27T04:12:51.520Z,1761538371.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508412 2025-10-27T04:12:51.772Z,1761538371.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760170 2025-10-27T04:12:51.800Z,1761538371.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166656,0.974117,0.152712],[-0.985021,0.157527,0.070133],[0.044261,-0.162112,0.985779]] 2025-10-27T04:12:51.905Z,1761538371.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:51.913Z,1761538371.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.22 m. 2025-10-27T04:12:51.914Z,1761538371.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:12:51.917Z,1761538371.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.222321 m, nav range: 53.887611 m, bearing: 277.715367 deg, approach rate: -0.646959 m/s, LOS rate: -0.012758 deg/s, cmd heading: 279.211358 deg, new cmd heading: 279.192111 deg. 2025-10-27T04:12:51.918Z,1761538371.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872822 target range: 58.222321 and range: 58.50 m. 2025-10-27T04:12:52.024Z,1761538372.024 [DAT](INFO): DAT read: Rx Time:04:12:50.7100 2025-10-27T04:12:52.025Z,1761538372.025 [DAT](INFO): Rx dataTimestamp_ set to:1761538372.024247 2025-10-27T04:12:52.025Z,1761538372.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013458 2025-10-27T04:12:52.230Z,1761538372.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164784,0.974413,0.152858],[-0.985291,0.155512,0.070829],[0.045245,-0.162281,0.985707]] 2025-10-27T04:12:52.249Z,1761538372.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.22 m. 2025-10-27T04:12:52.249Z,1761538372.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:12:52.252Z,1761538372.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.222321 m, nav range: 53.656239 m, bearing: 277.711253 deg, approach rate: -0.684975 m/s, LOS rate: -0.012232 deg/s, cmd heading: 279.192124 deg, new cmd heading: 279.179728 deg. 2025-10-27T04:12:52.253Z,1761538372.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872605 target range: 58.222321 and range: 58.50 m. 2025-10-27T04:12:52.276Z,1761538372.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264294 2025-10-27T04:12:52.534Z,1761538372.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521749 2025-10-27T04:12:52.630Z,1761538372.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162600,0.974914,0.151997],[-0.985617,0.153295,0.071131],[0.046046,-0.161377,0.985818]] 2025-10-27T04:12:52.663Z,1761538372.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.22 m. 2025-10-27T04:12:52.664Z,1761538372.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:12:52.667Z,1761538372.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.222321 m, nav range: 53.382000 m, bearing: 277.706980 deg, approach rate: -0.661428 m/s, LOS rate: -0.010358 deg/s, cmd heading: 279.179720 deg, new cmd heading: 279.166836 deg. 2025-10-27T04:12:52.670Z,1761538372.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872380 target range: 58.222321 and range: 58.50 m. 2025-10-27T04:12:52.793Z,1761538372.793 [DAT](INFO): DAT read: 04:12:50.7100 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412,-0.30,-0.169,-1.813, 0.152,-0.322, PHS= 0.255,-1.446, 0.430, RAW= 154.8, 8.5, CAL= 154.4, 9.0, ROT= 355.6, -9.0 2025-10-27T04:12:52.795Z,1761538372.795 [DAT](INFO): got valid direction response: 04:12:50.7100 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412,-0.30,-0.169,-1.813, 0.152,-0.322, PHS= 0.255,-1.446, 0.430, RAW= 154.8, 8.5, CAL= 154.4, 9.0, ROT= 355.6, -9.0 2025-10-27T04:12:52.797Z,1761538372.797 [DAT](INFO): DAT read: Bearing 88.1, -3.2 (Local) 2025-10-27T04:12:52.797Z,1761538372.797 [DAT](INFO): Local bearing/azimuth received: Bearing 88.1, -3.2 (Local) 2025-10-27T04:12:52.801Z,1761538372.801 [DAT](INFO): DAT read: Range 11 to 50 : 56.2 m (Round-trip 75.0 ms) speed 0.7 m/s 2025-10-27T04:12:52.802Z,1761538372.802 [DAT](INFO): DAT read: user:109> 2025-10-27T04:12:52.802Z,1761538372.802 [DAT](INFO): DAT read: Tx time:04:12:51.8309 2025-10-27T04:12:52.803Z,1761538372.803 [DAT](INFO): Ping request sent. 2025-10-27T04:12:52.803Z,1761538372.803 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:52.804Z,1761538372.804 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:52.805Z,1761538372.805 [DAT](INFO): direction in FSK: [0.984777,-0.075774,0.156434] 2025-10-27T04:12:52.805Z,1761538372.805 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:52.805Z,1761538372.805 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:52.816Z,1761538372.816 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:52.817Z,1761538372.817 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:53.081Z,1761538373.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.200001 m, deltaT: 3.784889 s, deltaX: -2.299999 m, approachRate: -0.607679 m/s, rangeRepo size: 4 2025-10-27T04:12:53.084Z,1761538373.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.931156 m, bearing: 276.464228 deg, lat: 36.779389 deg, lon: -121.859559 deg, deltaT: 3.784889 s, deltaX: -2.291164 m, approachRate: -0.605345 m/s, posRepo size: 4 2025-10-27T04:12:53.084Z,1761538373.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.93 m. 2025-10-27T04:12:53.085Z,1761538373.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:12:53.104Z,1761538373.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.931156 m, nav range: 53.223740 m, bearing: 277.528171 deg, approach rate: 0.000000 m/s, LOS rate: -0.010358 deg/s, cmd heading: 279.166825 deg, new cmd heading: 279.153848 deg. 2025-10-27T04:12:53.105Z,1761538373.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872154 target range: 55.931156 and range: 56.20 m. 2025-10-27T04:12:53.447Z,1761538373.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158240,0.975869,0.150466],[-0.986253,0.148864,0.071730],[0.047600,-0.159748,0.986010]] 2025-10-27T04:12:53.476Z,1761538373.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.93 m. 2025-10-27T04:12:53.476Z,1761538373.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:12:53.481Z,1761538373.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.931156 m, nav range: 52.965103 m, bearing: 277.524448 deg, approach rate: -0.657023 m/s, LOS rate: -0.009504 deg/s, cmd heading: 279.153848 deg, new cmd heading: 279.142624 deg. 2025-10-27T04:12:53.483Z,1761538373.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871958 target range: 55.931156 and range: 56.20 m. 2025-10-27T04:12:53.843Z,1761538373.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156832,0.976100,0.150444],[-0.986462,0.147428,0.071818],[0.047922,-0.159671,0.986006]] 2025-10-27T04:12:53.881Z,1761538373.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.93 m. 2025-10-27T04:12:53.881Z,1761538373.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:12:53.900Z,1761538373.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.931156 m, nav range: 52.714684 m, bearing: 277.525662 deg, approach rate: -0.615990 m/s, LOS rate: 0.002999 deg/s, cmd heading: 279.142619 deg, new cmd heading: 279.146277 deg. 2025-10-27T04:12:53.901Z,1761538373.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872022 target range: 55.931156 and range: 56.20 m. 2025-10-27T04:12:54.246Z,1761538374.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155773,0.976229,0.150703],[-0.986625,0.146351,0.071779],[0.048017,-0.159868,0.985970]] 2025-10-27T04:12:54.270Z,1761538374.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:54.273Z,1761538374.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.93 m. 2025-10-27T04:12:54.273Z,1761538374.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:12:54.276Z,1761538374.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.931156 m, nav range: 52.477180 m, bearing: 277.527100 deg, approach rate: -0.606161 m/s, LOS rate: 0.003687 deg/s, cmd heading: 279.146280 deg, new cmd heading: 279.150613 deg. 2025-10-27T04:12:54.277Z,1761538374.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872097 target range: 55.931156 and range: 56.20 m. 2025-10-27T04:12:54.296Z,1761538374.296 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:54.296Z,1761538374.296 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:54.296Z,1761538374.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:54.548Z,1761538374.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744692 2025-10-27T04:12:54.650Z,1761538374.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155405,0.976484,0.149426],[-0.986686,0.146092,0.071474],[0.047964,-0.158544,0.986186]] 2025-10-27T04:12:54.673Z,1761538374.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.93 m. 2025-10-27T04:12:54.673Z,1761538374.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:12:54.676Z,1761538374.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.931156 m, nav range: 52.234734 m, bearing: 277.528694 deg, approach rate: -0.606126 m/s, LOS rate: 0.004003 deg/s, cmd heading: 279.150624 deg, new cmd heading: 279.155427 deg. 2025-10-27T04:12:54.677Z,1761538374.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872181 target range: 55.931156 and range: 56.20 m. 2025-10-27T04:12:54.800Z,1761538374.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996766 2025-10-27T04:12:55.052Z,1761538375.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248733 2025-10-27T04:12:55.056Z,1761538375.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154948,0.976555,0.149437],[-0.986754,0.145629,0.071479],[0.048040,-0.158533,0.986184]] 2025-10-27T04:12:55.115Z,1761538375.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.93 m. 2025-10-27T04:12:55.117Z,1761538375.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:12:55.124Z,1761538375.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.931156 m, nav range: 52.004555 m, bearing: 277.525696 deg, approach rate: -0.540454 m/s, LOS rate: -0.007071 deg/s, cmd heading: 279.155432 deg, new cmd heading: 279.146398 deg. 2025-10-27T04:12:55.125Z,1761538375.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872024 target range: 55.931156 and range: 56.20 m. 2025-10-27T04:12:55.304Z,1761538375.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500646 2025-10-27T04:12:55.469Z,1761538375.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154648,0.976565,0.149682],[-0.986797,0.145302,0.071547],[0.048121,-0.158771,0.986142]] 2025-10-27T04:12:55.508Z,1761538375.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.93 m. 2025-10-27T04:12:55.508Z,1761538375.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:12:55.508Z,1761538375.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.20 m. 2025-10-27T04:12:55.509Z,1761538375.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T04:12:55.514Z,1761538375.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.931156 m, nav range: 51.784187 m, bearing: 277.522870 deg, approach rate: -0.538830 m/s, LOS rate: -0.006937 deg/s, cmd heading: 279.146389 deg, new cmd heading: 279.137878 deg. 2025-10-27T04:12:55.517Z,1761538375.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871875 target range: 55.931156 and range: 56.20 m. 2025-10-27T04:12:55.557Z,1761538375.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754234 2025-10-27T04:12:55.808Z,1761538375.808 [DAT](INFO): DAT read: Rx Time:04:12:54.3065 2025-10-27T04:12:55.809Z,1761538375.809 [DAT](INFO): Rx dataTimestamp_ set to:1761538375.808368 2025-10-27T04:12:55.809Z,1761538375.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005976 2025-10-27T04:12:55.862Z,1761538375.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156367,0.976426,0.148801],[-0.986539,0.147103,0.071422],[0.047849,-0.157966,0.986285]] 2025-10-27T04:12:55.906Z,1761538375.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.93 m. 2025-10-27T04:12:55.908Z,1761538375.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.931156 m, nav range: 51.582024 m, bearing: 277.521792 deg, approach rate: -0.508080 m/s, LOS rate: -0.002721 deg/s, cmd heading: 279.137865 deg, new cmd heading: 279.134616 deg. 2025-10-27T04:12:55.909Z,1761538375.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871818 target range: 55.931156 and range: 56.20 m. 2025-10-27T04:12:56.060Z,1761538376.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256720 2025-10-27T04:12:56.268Z,1761538376.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158823,0.976495,0.145713],[-0.986162,0.149795,0.071038],[0.047541,-0.154979,0.986773]] 2025-10-27T04:12:56.284Z,1761538376.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:56.286Z,1761538376.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.93 m. 2025-10-27T04:12:56.289Z,1761538376.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.931156 m, nav range: 51.389023 m, bearing: 277.520255 deg, approach rate: -0.506809 m/s, LOS rate: -0.004051 deg/s, cmd heading: 279.134614 deg, new cmd heading: 279.129986 deg. 2025-10-27T04:12:56.290Z,1761538376.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871737 target range: 55.931156 and range: 56.20 m. 2025-10-27T04:12:56.331Z,1761538376.331 [DAT](INFO): DAT read: 04:12:54.3065 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408, 0.12,-0.446,-2.108,-0.133,-0.529, PHS= 0.185,-1.534, 0.352, RAW= 154.6, 11.0, CAL= 154.5, 12.1, ROT= 355.5, -12.1 2025-10-27T04:12:56.332Z,1761538376.332 [DAT](INFO): got valid direction response: 04:12:54.3065 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408, 0.12,-0.446,-2.108,-0.133,-0.529, PHS= 0.185,-1.534, 0.352, RAW= 154.6, 11.0, CAL= 154.5, 12.1, ROT= 355.5, -12.1 2025-10-27T04:12:56.333Z,1761538376.333 [DAT](INFO): DAT read: Bearing 92.0, -4.0 (Local) 2025-10-27T04:12:56.334Z,1761538376.334 [DAT](INFO): Local bearing/azimuth received: Bearing 92.0, -4.0 (Local) 2025-10-27T04:12:56.335Z,1761538376.335 [DAT](INFO): DAT read: Range 11 to 50 : 53.5 m (Round-trip 71.4 ms) speed 0.4 m/s 2025-10-27T04:12:56.336Z,1761538376.336 [DAT](INFO): DAT read: user:110> 2025-10-27T04:12:56.337Z,1761538376.337 [DAT](INFO): DAT read: Tx time:04:12:55.4309 2025-10-27T04:12:56.337Z,1761538376.337 [DAT](INFO): Ping request sent. 2025-10-27T04:12:56.337Z,1761538376.337 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:56.337Z,1761538376.337 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:56.338Z,1761538376.338 [DAT](INFO): direction in FSK: [0.974769,-0.076716,0.209619] 2025-10-27T04:12:56.339Z,1761538376.339 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:56.351Z,1761538376.351 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:56.354Z,1761538376.354 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:56.354Z,1761538376.354 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:56.774Z,1761538376.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164924,0.976135,0.141280],[-0.985192,0.156232,0.070628],[0.046870,-0.150836,0.987447]] 2025-10-27T04:12:56.842Z,1761538376.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.500000 m, deltaT: 3.539942 s, deltaX: -2.700001 m, approachRate: -0.762725 m/s, rangeRepo size: 4 2025-10-27T04:12:56.848Z,1761538376.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.244553 m, bearing: 276.877620 deg, lat: 36.779389 deg, lon: -121.859561 deg, deltaT: 3.539942 s, deltaX: -2.686604 m, approachRate: -0.758940 m/s, posRepo size: 4 2025-10-27T04:12:56.849Z,1761538376.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.24 m. 2025-10-27T04:12:56.862Z,1761538376.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.244553 m, nav range: 51.276283 m, bearing: 277.492509 deg, approach rate: 0.000000 m/s, LOS rate: -0.004051 deg/s, cmd heading: 279.129997 deg, new cmd heading: 279.123250 deg. 2025-10-27T04:12:56.884Z,1761538376.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871620 target range: 53.244553 and range: 53.50 m. 2025-10-27T04:12:57.349Z,1761538377.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168900,0.975626,0.140097],[-0.984556,0.160358,0.070253],[0.046075,-0.149799,0.987642]] 2025-10-27T04:12:57.406Z,1761538377.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.24 m. 2025-10-27T04:12:57.413Z,1761538377.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.244553 m, nav range: 51.022411 m, bearing: 277.490143 deg, approach rate: -0.449416 m/s, LOS rate: -0.004209 deg/s, cmd heading: 279.123248 deg, new cmd heading: 279.116116 deg. 2025-10-27T04:12:57.414Z,1761538377.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871495 target range: 53.244553 and range: 53.50 m. 2025-10-27T04:12:57.860Z,1761538377.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173271,0.974948,0.139479],[-0.983861,0.164928,0.069394],[0.044652,-0.149252,0.987791]] 2025-10-27T04:12:57.924Z,1761538377.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.24 m. 2025-10-27T04:12:57.931Z,1761538377.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.244553 m, nav range: 50.806366 m, bearing: 277.490322 deg, approach rate: -0.417268 m/s, LOS rate: 0.000346 deg/s, cmd heading: 279.116118 deg, new cmd heading: 279.116655 deg. 2025-10-27T04:12:57.932Z,1761538377.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871505 target range: 53.244553 and range: 53.50 m. 2025-10-27T04:12:58.264Z,1761538378.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177877,0.974457,0.137090],[-0.983126,0.169931,0.067731],[0.042706,-0.146824,0.988240]] 2025-10-27T04:12:58.283Z,1761538378.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.24 m. 2025-10-27T04:12:58.286Z,1761538378.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.244553 m, nav range: 50.642418 m, bearing: 277.489594 deg, approach rate: -0.457159 m/s, LOS rate: -0.002034 deg/s, cmd heading: 279.116664 deg, new cmd heading: 279.114475 deg. 2025-10-27T04:12:58.287Z,1761538378.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871467 target range: 53.244553 and range: 53.50 m. 2025-10-27T04:12:58.666Z,1761538378.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181624,0.973979,0.135563],[-0.982519,0.174008,0.066162],[0.040851,-0.145210,0.988557]] 2025-10-27T04:12:58.683Z,1761538378.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:12:58.685Z,1761538378.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.24 m. 2025-10-27T04:12:58.689Z,1761538378.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.244553 m, nav range: 50.471897 m, bearing: 277.488099 deg, approach rate: -0.423613 m/s, LOS rate: -0.003727 deg/s, cmd heading: 279.114478 deg, new cmd heading: 279.109977 deg. 2025-10-27T04:12:58.690Z,1761538378.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871388 target range: 53.244553 and range: 53.50 m. 2025-10-27T04:12:58.844Z,1761538378.844 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:12:58.844Z,1761538378.844 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:12:58.844Z,1761538378.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:12:59.074Z,1761538379.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185484,0.973327,0.135019],[-0.981891,0.178192,0.064329],[0.038554,-0.144506,0.988752]] 2025-10-27T04:12:59.096Z,1761538379.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758823 2025-10-27T04:12:59.111Z,1761538379.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.24 m. 2025-10-27T04:12:59.114Z,1761538379.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.244553 m, nav range: 50.295403 m, bearing: 277.485292 deg, approach rate: -0.414517 m/s, LOS rate: -0.006617 deg/s, cmd heading: 279.109970 deg, new cmd heading: 279.101519 deg. 2025-10-27T04:12:59.117Z,1761538379.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871241 target range: 53.244553 and range: 53.50 m. 2025-10-27T04:12:59.348Z,1761538379.348 [DAT](INFO): DAT read: Rx Time:04:12:57.9044 2025-10-27T04:12:59.348Z,1761538379.348 [DAT](INFO): Rx dataTimestamp_ set to:1761538379.348087 2025-10-27T04:12:59.349Z,1761538379.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011901 2025-10-27T04:12:59.494Z,1761538379.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188896,0.972724,0.134637],[-0.981335,0.181953,0.062239],[0.036044,-0.143881,0.988938]] 2025-10-27T04:12:59.512Z,1761538379.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.24 m. 2025-10-27T04:12:59.515Z,1761538379.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.244553 m, nav range: 50.129147 m, bearing: 277.481969 deg, approach rate: -0.414492 m/s, LOS rate: -0.008311 deg/s, cmd heading: 279.101528 deg, new cmd heading: 279.091527 deg. 2025-10-27T04:12:59.520Z,1761538379.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.871066 target range: 53.244553 and range: 53.50 m. 2025-10-27T04:12:59.601Z,1761538379.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263947 2025-10-27T04:12:59.858Z,1761538379.858 [DAT](INFO): DAT read: 04:12:57.9044 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420,-0.44, 0.984,-0.660, 1.335, 0.926, PHS= 0.159,-1.542, 0.364, RAW= 155.6, 11.2, CAL= 155.7, 12.4, ROT= 354.3, -12.4 2025-10-27T04:12:59.859Z,1761538379.859 [DAT](INFO): got valid direction response: 04:12:57.9044 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420,-0.44, 0.984,-0.660, 1.335, 0.926, PHS= 0.159,-1.542, 0.364, RAW= 155.6, 11.2, CAL= 155.7, 12.4, ROT= 354.3, -12.4 2025-10-27T04:12:59.860Z,1761538379.860 [DAT](INFO): DAT read: Bearing 93.5, -5.2 (Local) 2025-10-27T04:12:59.860Z,1761538379.860 [DAT](INFO): Local bearing/azimuth received: Bearing 93.5, -5.2 (Local) 2025-10-27T04:12:59.861Z,1761538379.861 [DAT](INFO): DAT read: Range 11 to 50 : 52.0 m (Round-trip 69.4 ms) speed 0.3 m/s 2025-10-27T04:12:59.862Z,1761538379.862 [DAT](INFO): DAT read: user:111> 2025-10-27T04:12:59.863Z,1761538379.863 [DAT](INFO): DAT read: Tx time:04:12:59.0309 2025-10-27T04:12:59.863Z,1761538379.863 [DAT](INFO): Ping request sent. 2025-10-27T04:12:59.863Z,1761538379.863 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:12:59.864Z,1761538379.864 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:12:59.865Z,1761538379.865 [DAT](INFO): direction in FSK: [0.971843,-0.097003,0.214735] 2025-10-27T04:12:59.865Z,1761538379.865 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:59.865Z,1761538379.865 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:59.881Z,1761538379.881 [DAT](INFO): publishing transmit ping time 2025-10-27T04:12:59.881Z,1761538379.881 [DAT](INFO): publishing direction and range info 2025-10-27T04:12:59.888Z,1761538379.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192278,0.971811,0.136431],[-0.980769,0.185557,0.060499],[0.033478,-0.145440,0.988801]] 2025-10-27T04:13:00.037Z,1761538380.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.000000 m, deltaT: 3.527038 s, deltaX: -1.500000 m, approachRate: -0.425286 m/s, rangeRepo size: 4 2025-10-27T04:13:00.043Z,1761538380.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.752632 m, bearing: 277.249893 deg, lat: 36.779387 deg, lon: -121.859562 deg, deltaT: 3.527038 s, deltaX: -1.491920 m, approachRate: -0.422995 m/s, posRepo size: 4 2025-10-27T04:13:00.044Z,1761538380.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.75 m. 2025-10-27T04:13:00.046Z,1761538380.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.752632 m, nav range: 49.987038 m, bearing: 277.250062 deg, approach rate: 0.000000 m/s, LOS rate: -0.008311 deg/s, cmd heading: 279.091529 deg, new cmd heading: 279.078462 deg. 2025-10-27T04:13:00.052Z,1761538380.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870838 target range: 51.752632 and range: 52.00 m. 2025-10-27T04:13:00.352Z,1761538380.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196207,0.971170,0.135394],[-0.980142,0.190201,0.056084],[0.028715,-0.143710,0.989203]] 2025-10-27T04:13:00.371Z,1761538380.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.75 m. 2025-10-27T04:13:00.374Z,1761538380.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.752632 m, nav range: 49.827976 m, bearing: 277.240029 deg, approach rate: -0.474431 m/s, LOS rate: -0.030019 deg/s, cmd heading: 279.078470 deg, new cmd heading: 279.048276 deg. 2025-10-27T04:13:00.376Z,1761538380.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.870311 target range: 51.752632 and range: 52.00 m. 2025-10-27T04:13:00.753Z,1761538380.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196983,0.970652,0.137958],[-0.980053,0.191171,0.054316],[0.026348,-0.145905,0.988948]] 2025-10-27T04:13:00.781Z,1761538380.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:00.784Z,1761538380.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.75 m. 2025-10-27T04:13:00.787Z,1761538380.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.752632 m, nav range: 49.647823 m, bearing: 277.228449 deg, approach rate: -0.436769 m/s, LOS rate: -0.028179 deg/s, cmd heading: 279.048280 deg, new cmd heading: 279.013411 deg. 2025-10-27T04:13:00.791Z,1761538380.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869703 target range: 51.752632 and range: 52.00 m. 2025-10-27T04:13:00.862Z,1761538380.862 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:13:00.862Z,1761538380.862 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:13:00.864Z,1761538380.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:13:01.112Z,1761538381.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248490 2025-10-27T04:13:01.158Z,1761538381.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197327,0.970063,0.141562],[-0.980040,0.191644,0.052850],[0.024139,-0.149166,0.988518]] 2025-10-27T04:13:01.207Z,1761538381.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.75 m. 2025-10-27T04:13:01.209Z,1761538381.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.752632 m, nav range: 49.440926 m, bearing: 277.212449 deg, approach rate: -0.489582 m/s, LOS rate: -0.038017 deg/s, cmd heading: 279.013419 deg, new cmd heading: 278.965221 deg. 2025-10-27T04:13:01.210Z,1761538381.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868862 target range: 51.752632 and range: 52.00 m. 2025-10-27T04:13:01.364Z,1761538381.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500496 2025-10-27T04:13:01.562Z,1761538381.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197265,0.969814,0.143345],[-0.980103,0.191811,0.051055],[0.022019,-0.150564,0.988355]] 2025-10-27T04:13:01.581Z,1761538381.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.75 m. 2025-10-27T04:13:01.584Z,1761538381.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.752632 m, nav range: 49.258167 m, bearing: 277.198236 deg, approach rate: -0.488437 m/s, LOS rate: -0.038127 deg/s, cmd heading: 278.965225 deg, new cmd heading: 278.922427 deg. 2025-10-27T04:13:01.585Z,1761538381.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.868114 target range: 51.752632 and range: 52.00 m. 2025-10-27T04:13:01.616Z,1761538381.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752578 2025-10-27T04:13:01.871Z,1761538381.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008048 2025-10-27T04:13:01.989Z,1761538381.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196036,0.969529,0.146913],[-0.980383,0.190652,0.050015],[0.020481,-0.153836,0.987884]] 2025-10-27T04:13:02.026Z,1761538382.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.75 m. 2025-10-27T04:13:02.029Z,1761538382.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.752632 m, nav range: 49.016293 m, bearing: 277.175484 deg, approach rate: -0.543460 m/s, LOS rate: -0.051373 deg/s, cmd heading: 278.922413 deg, new cmd heading: 278.853821 deg. 2025-10-27T04:13:02.030Z,1761538382.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866917 target range: 51.752632 and range: 52.00 m. 2025-10-27T04:13:02.120Z,1761538382.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256697 2025-10-27T04:13:02.372Z,1761538382.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508532 2025-10-27T04:13:02.374Z,1761538382.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194582,0.969115,0.151505],[-0.980700,0.189205,0.049272],[0.019085,-0.158168,0.987228]] 2025-10-27T04:13:02.394Z,1761538382.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.75 m. 2025-10-27T04:13:02.397Z,1761538382.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.752632 m, nav range: 48.816422 m, bearing: 277.156906 deg, approach rate: -0.543033 m/s, LOS rate: -0.050683 deg/s, cmd heading: 278.853811 deg, new cmd heading: 278.797847 deg. 2025-10-27T04:13:02.398Z,1761538382.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865941 target range: 51.752632 and range: 52.00 m. 2025-10-27T04:13:02.624Z,1761538382.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760799 2025-10-27T04:13:02.803Z,1761538382.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:02.805Z,1761538382.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.75 m. 2025-10-27T04:13:02.808Z,1761538382.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.752632 m, nav range: 48.592850 m, bearing: 277.135942 deg, approach rate: -0.543043 m/s, LOS rate: -0.051153 deg/s, cmd heading: 278.797858 deg, new cmd heading: 278.734678 deg. 2025-10-27T04:13:02.809Z,1761538382.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.864838 target range: 51.752632 and range: 52.00 m. 2025-10-27T04:13:02.882Z,1761538382.882 [DAT](INFO): DAT read: Rx Time:04:13:01.5026 2025-10-27T04:13:02.883Z,1761538382.883 [DAT](INFO): Rx dataTimestamp_ set to:1761538382.882064 2025-10-27T04:13:02.885Z,1761538382.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021123 2025-10-27T04:13:03.132Z,1761538383.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268522 2025-10-27T04:13:03.181Z,1761538383.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191325,0.968286,0.160678],[-0.981389,0.185969,0.047876],[0.016476,-0.166847,0.985845]] 2025-10-27T04:13:03.236Z,1761538383.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.75 m. 2025-10-27T04:13:03.238Z,1761538383.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.752632 m, nav range: 48.338257 m, bearing: 277.116832 deg, approach rate: -0.592072 m/s, LOS rate: -0.044675 deg/s, cmd heading: 278.734665 deg, new cmd heading: 278.677034 deg. 2025-10-27T04:13:03.239Z,1761538383.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.863832 target range: 51.752632 and range: 52.00 m. 2025-10-27T04:13:03.390Z,1761538383.390 [DAT](INFO): DAT read: 04:13:01.5026 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 417,-0.34,-1.467,-3.097,-1.085,-1.534, PHS= 0.170,-1.518, 0.405, RAW= 156.4, 10.4, CAL= 156.4, 11.3, ROT= 353.6, -11.3 2025-10-27T04:13:03.392Z,1761538383.392 [DAT](INFO): got valid direction response: 04:13:01.5026 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 417,-0.34,-1.467,-3.097,-1.085,-1.534, PHS= 0.170,-1.518, 0.405, RAW= 156.4, 10.4, CAL= 156.4, 11.3, ROT= 353.6, -11.3 2025-10-27T04:13:03.393Z,1761538383.393 [DAT](INFO): DAT read: Bearing 92.2, -6.9 (Local) 2025-10-27T04:13:03.394Z,1761538383.394 [DAT](INFO): Local bearing/azimuth received: Bearing 92.2, -6.9 (Local) 2025-10-27T04:13:03.396Z,1761538383.396 [DAT](INFO): DAT read: Range 11 to 50 : 50.6 m (Round-trip 67.5 ms) speed 0.5 m/s 2025-10-27T04:13:03.397Z,1761538383.397 [DAT](INFO): DAT read: user:112> 2025-10-27T04:13:03.397Z,1761538383.397 [DAT](INFO): DAT read: Tx time:04:13:02.6309 2025-10-27T04:13:03.398Z,1761538383.398 [DAT](INFO): Ping request sent. 2025-10-27T04:13:03.398Z,1761538383.398 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:13:03.398Z,1761538383.398 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:13:03.408Z,1761538383.408 [DAT](INFO): direction in FSK: [0.974503,-0.109308,0.195946] 2025-10-27T04:13:03.408Z,1761538383.408 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:03.408Z,1761538383.408 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:03.412Z,1761538383.412 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:03.412Z,1761538383.412 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:03.585Z,1761538383.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189881,0.967886,0.164747],[-0.981686,0.184527,0.047360],[0.015439,-0.170722,0.985198]] 2025-10-27T04:13:03.632Z,1761538383.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.599998 m, deltaT: 3.532137 s, deltaX: -1.400002 m, approachRate: -0.396361 m/s, rangeRepo size: 4 2025-10-27T04:13:03.634Z,1761538383.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.358345 m, bearing: 276.575166 deg, lat: 36.779384 deg, lon: -121.859563 deg, deltaT: 3.532137 s, deltaX: -1.394287 m, approachRate: -0.394743 m/s, posRepo size: 4 2025-10-27T04:13:03.634Z,1761538383.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.36 m. 2025-10-27T04:13:03.639Z,1761538383.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.358345 m, nav range: 48.112827 m, bearing: 276.703521 deg, approach rate: 0.000000 m/s, LOS rate: -0.044675 deg/s, cmd heading: 278.677046 deg, new cmd heading: 278.624088 deg. 2025-10-27T04:13:03.640Z,1761538383.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.862908 target range: 50.358345 and range: 50.60 m. 2025-10-27T04:13:03.992Z,1761538383.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188384,0.967924,0.166239],[-0.981986,0.183114,0.046622],[0.014686,-0.172027,0.984983]] 2025-10-27T04:13:04.053Z,1761538384.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.36 m. 2025-10-27T04:13:04.056Z,1761538384.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.358345 m, nav range: 47.853302 m, bearing: 276.677095 deg, approach rate: -0.614296 m/s, LOS rate: -0.062890 deg/s, cmd heading: 278.624098 deg, new cmd heading: 278.544390 deg. 2025-10-27T04:13:04.057Z,1761538384.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861516 target range: 50.358345 and range: 50.60 m. 2025-10-27T04:13:04.399Z,1761538384.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187368,0.967835,0.167895],[-0.982189,0.182148,0.046114],[0.014049,-0.173545,0.984726]] 2025-10-27T04:13:04.417Z,1761538384.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.36 m. 2025-10-27T04:13:04.420Z,1761538384.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.358345 m, nav range: 47.625587 m, bearing: 276.653958 deg, approach rate: -0.625522 m/s, LOS rate: -0.063860 deg/s, cmd heading: 278.544376 deg, new cmd heading: 278.474633 deg. 2025-10-27T04:13:04.421Z,1761538384.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.860299 target range: 50.358345 and range: 50.60 m. 2025-10-27T04:13:04.798Z,1761538384.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186819,0.967893,0.168170],[-0.982306,0.181756,0.045153],[0.013137,-0.173630,0.984723]] 2025-10-27T04:13:04.814Z,1761538384.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:04.816Z,1761538384.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.36 m. 2025-10-27T04:13:04.819Z,1761538384.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.358345 m, nav range: 47.382069 m, bearing: 276.629135 deg, approach rate: -0.609877 m/s, LOS rate: -0.062487 deg/s, cmd heading: 278.474626 deg, new cmd heading: 278.399774 deg. 2025-10-27T04:13:04.820Z,1761538384.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.858993 target range: 50.358345 and range: 50.60 m. 2025-10-27T04:13:04.901Z,1761538384.901 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:13:04.902Z,1761538384.902 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:13:04.902Z,1761538384.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:13:05.154Z,1761538385.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756025 2025-10-27T04:13:05.202Z,1761538385.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186018,0.967933,0.168831],[-0.982471,0.181102,0.044201],[0.012208,-0.174094,0.984653]] 2025-10-27T04:13:05.251Z,1761538385.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.36 m. 2025-10-27T04:13:05.254Z,1761538385.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.358345 m, nav range: 47.123093 m, bearing: 276.604374 deg, approach rate: -0.595876 m/s, LOS rate: -0.057285 deg/s, cmd heading: 278.399767 deg, new cmd heading: 278.325076 deg. 2025-10-27T04:13:05.271Z,1761538385.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857689 target range: 50.358345 and range: 50.60 m. 2025-10-27T04:13:05.404Z,1761538385.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005975 2025-10-27T04:13:05.644Z,1761538385.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.36 m. 2025-10-27T04:13:05.646Z,1761538385.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.358345 m, nav range: 46.886517 m, bearing: 276.581515 deg, approach rate: -0.602854 m/s, LOS rate: -0.058544 deg/s, cmd heading: 278.325072 deg, new cmd heading: 278.256150 deg. 2025-10-27T04:13:05.656Z,1761538385.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258016 2025-10-27T04:13:05.671Z,1761538385.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.856486 target range: 50.358345 and range: 50.60 m. 2025-10-27T04:13:05.915Z,1761538385.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516753 2025-10-27T04:13:06.159Z,1761538386.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186064,0.968714,0.164235],[-0.982494,0.181855,0.040433],[0.009301,-0.168883,0.985592]] 2025-10-27T04:13:06.164Z,1761538386.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766145 2025-10-27T04:13:06.210Z,1761538386.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.36 m. 2025-10-27T04:13:06.213Z,1761538386.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.358345 m, nav range: 46.551018 m, bearing: 276.552120 deg, approach rate: -0.592450 m/s, LOS rate: -0.052282 deg/s, cmd heading: 278.256142 deg, new cmd heading: 278.167322 deg. 2025-10-27T04:13:06.214Z,1761538386.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.854936 target range: 50.358345 and range: 50.60 m. 2025-10-27T04:13:06.417Z,1761538386.417 [DAT](INFO): DAT read: Rx Time:04:13:05.0995 2025-10-27T04:13:06.418Z,1761538386.418 [DAT](INFO): Rx dataTimestamp_ set to:1761538386.417168 2025-10-27T04:13:06.419Z,1761538386.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020507 2025-10-27T04:13:06.668Z,1761538386.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270146 2025-10-27T04:13:06.745Z,1761538386.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.36 m. 2025-10-27T04:13:06.748Z,1761538386.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.358345 m, nav range: 46.250980 m, bearing: 276.525471 deg, approach rate: -0.560424 m/s, LOS rate: -0.050100 deg/s, cmd heading: 278.167322 deg, new cmd heading: 278.086855 deg. 2025-10-27T04:13:06.749Z,1761538386.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.853531 target range: 50.358345 and range: 50.60 m. 2025-10-27T04:13:06.924Z,1761538386.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525520 2025-10-27T04:13:07.178Z,1761538387.178 [DAT](INFO): DAT read: 04:13:05.0995 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.09, 0.527,-1.084, 0.895, 0.489, PHS= 0.141,-1.527, 0.363, RAW= 156.2, 11.4, CAL= 156.3, 12.7, ROT= 353.7, -12.7 2025-10-27T04:13:07.179Z,1761538387.179 [DAT](INFO): got valid direction response: 04:13:05.0995 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.09, 0.527,-1.084, 0.895, 0.489, PHS= 0.141,-1.527, 0.363, RAW= 156.2, 11.4, CAL= 156.3, 12.7, ROT= 353.7, -12.7 2025-10-27T04:13:07.180Z,1761538387.180 [DAT](INFO): DAT read: Bearing 94.4, -8.1 (Local) 2025-10-27T04:13:07.181Z,1761538387.181 [DAT](INFO): Local bearing/azimuth received: Bearing 94.4, -8.1 (Local) 2025-10-27T04:13:07.182Z,1761538387.182 [DAT](INFO): DAT read: Range 11 to 50 : 48.3 m (Round-trip 64.4 ms) speed 0.5 m/s 2025-10-27T04:13:07.183Z,1761538387.183 [DAT](INFO): DAT read: user:113> 2025-10-27T04:13:07.183Z,1761538387.183 [DAT](INFO): DAT read: Tx time:04:13:06.1809 2025-10-27T04:13:07.184Z,1761538387.184 [DAT](INFO): Ping request sent. 2025-10-27T04:13:07.184Z,1761538387.184 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:13:07.184Z,1761538387.184 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:13:07.185Z,1761538387.185 [DAT](INFO): direction in FSK: [0.969643,-0.107049,0.219846] 2025-10-27T04:13:07.185Z,1761538387.185 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:07.186Z,1761538387.186 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:07.194Z,1761538387.194 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:07.194Z,1761538387.194 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:07.277Z,1761538387.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186455,0.969539,0.158833],[-0.982448,0.183098,0.035647],[0.005479,-0.162692,0.986662]] 2025-10-27T04:13:07.372Z,1761538387.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.299999 m, deltaT: 3.788002 s, deltaX: -2.299999 m, approachRate: -0.607180 m/s, rangeRepo size: 4 2025-10-27T04:13:07.374Z,1761538387.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.069561 m, bearing: 276.620038 deg, lat: 36.779384 deg, lon: -121.859571 deg, deltaT: 3.788002 s, deltaX: -2.288784 m, approachRate: -0.604219 m/s, posRepo size: 4 2025-10-27T04:13:07.379Z,1761538387.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.07 m. 2025-10-27T04:13:07.382Z,1761538387.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.069561 m, nav range: 46.647522 m, bearing: 276.390488 deg, approach rate: 0.000000 m/s, LOS rate: -0.050100 deg/s, cmd heading: 278.086863 deg, new cmd heading: 277.992695 deg. 2025-10-27T04:13:07.387Z,1761538387.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851888 target range: 48.069561 and range: 48.30 m. 2025-10-27T04:13:07.760Z,1761538387.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:07.762Z,1761538387.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.07 m. 2025-10-27T04:13:07.769Z,1761538387.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.069561 m, nav range: 46.420498 m, bearing: 276.370252 deg, approach rate: -0.582006 m/s, LOS rate: -0.052133 deg/s, cmd heading: 277.992688 deg, new cmd heading: 277.931681 deg. 2025-10-27T04:13:07.770Z,1761538387.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.850823 target range: 48.069561 and range: 48.30 m. 2025-10-27T04:13:07.931Z,1761538387.931 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:13:07.932Z,1761538387.932 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:13:07.932Z,1761538387.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:13:08.156Z,1761538388.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.07 m. 2025-10-27T04:13:08.159Z,1761538388.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.069561 m, nav range: 46.224918 m, bearing: 276.351720 deg, approach rate: -0.495786 m/s, LOS rate: -0.047175 deg/s, cmd heading: 277.931681 deg, new cmd heading: 277.875851 deg. 2025-10-27T04:13:08.160Z,1761538388.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849849 target range: 48.069561 and range: 48.30 m. 2025-10-27T04:13:08.180Z,1761538388.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996233 2025-10-27T04:13:08.432Z,1761538388.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247995 2025-10-27T04:13:08.509Z,1761538388.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188273,0.969025,0.159823],[-0.982111,0.185198,0.034058],[0.003405,-0.163376,0.986558]] 2025-10-27T04:13:08.544Z,1761538388.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.07 m. 2025-10-27T04:13:08.547Z,1761538388.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.069561 m, nav range: 46.034840 m, bearing: 276.333110 deg, approach rate: -0.490379 m/s, LOS rate: -0.048209 deg/s, cmd heading: 277.875864 deg, new cmd heading: 277.819804 deg. 2025-10-27T04:13:08.552Z,1761538388.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.848870 target range: 48.069561 and range: 48.30 m. 2025-10-27T04:13:08.684Z,1761538388.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500100 2025-10-27T04:13:08.914Z,1761538388.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189173,0.968346,0.162848],[-0.981941,0.186194,0.033509],[0.002127,-0.166246,0.986082]] 2025-10-27T04:13:08.939Z,1761538388.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754524 2025-10-27T04:13:09.001Z,1761538389.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.07 m. 2025-10-27T04:13:09.008Z,1761538389.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.069561 m, nav range: 45.825336 m, bearing: 276.312141 deg, approach rate: -0.457975 m/s, LOS rate: -0.046049 deg/s, cmd heading: 277.819802 deg, new cmd heading: 277.756606 deg. 2025-10-27T04:13:09.009Z,1761538389.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.847767 target range: 48.069561 and range: 48.30 m. 2025-10-27T04:13:09.188Z,1761538389.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003976 2025-10-27T04:13:09.322Z,1761538389.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189904,0.967474,0.167124],[-0.981802,0.186940,0.033436],[0.001107,-0.170433,0.985369]] 2025-10-27T04:13:09.366Z,1761538389.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.07 m. 2025-10-27T04:13:09.369Z,1761538389.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.069561 m, nav range: 45.643684 m, bearing: 276.295904 deg, approach rate: -0.498319 m/s, LOS rate: -0.044719 deg/s, cmd heading: 277.756609 deg, new cmd heading: 277.707705 deg. 2025-10-27T04:13:09.370Z,1761538389.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846914 target range: 48.069561 and range: 48.30 m. 2025-10-27T04:13:09.444Z,1761538389.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259396 2025-10-27T04:13:09.697Z,1761538389.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512611 2025-10-27T04:13:09.730Z,1761538389.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190274,0.966865,0.170197],[-0.981731,0.187375,0.033090],[0.000103,-0.173384,0.984854]] 2025-10-27T04:13:09.760Z,1761538389.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.07 m. 2025-10-27T04:13:09.763Z,1761538389.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.069561 m, nav range: 45.465942 m, bearing: 276.279765 deg, approach rate: -0.451005 m/s, LOS rate: -0.041110 deg/s, cmd heading: 277.707705 deg, new cmd heading: 277.659101 deg. 2025-10-27T04:13:09.764Z,1761538389.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.846066 target range: 48.069561 and range: 48.30 m. 2025-10-27T04:13:09.952Z,1761538389.952 [DAT](INFO): DAT read: Rx Time:04:13:08.6467 2025-10-27T04:13:09.954Z,1761538389.954 [DAT](INFO): Rx dataTimestamp_ set to:1761538389.952640 2025-10-27T04:13:09.964Z,1761538389.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779661 2025-10-27T04:13:10.153Z,1761538390.153 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050308012853,35.0, 0.0,1494.0, 0 2025-10-27T04:13:10.182Z,1761538390.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:10.189Z,1761538390.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.07 m. 2025-10-27T04:13:10.196Z,1761538390.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.069561 m, nav range: 45.281929 m, bearing: 276.262923 deg, approach rate: -0.428646 m/s, LOS rate: -0.039391 deg/s, cmd heading: 277.659102 deg, new cmd heading: 277.608371 deg. 2025-10-27T04:13:10.197Z,1761538390.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.845180 target range: 48.069561 and range: 48.30 m. 2025-10-27T04:13:10.200Z,1761538390.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016119 2025-10-27T04:13:10.455Z,1761538390.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270285 2025-10-27T04:13:10.538Z,1761538390.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190716,0.965846,0.175412],[-0.981643,0.188026,0.031986],[-0.002088,-0.178292,0.983975]] 2025-10-27T04:13:10.565Z,1761538390.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.07 m. 2025-10-27T04:13:10.568Z,1761538390.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.069561 m, nav range: 45.102959 m, bearing: 276.246239 deg, approach rate: -0.476003 m/s, LOS rate: -0.044551 deg/s, cmd heading: 277.608367 deg, new cmd heading: 277.558115 deg. 2025-10-27T04:13:10.569Z,1761538390.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844303 target range: 48.069561 and range: 48.30 m. 2025-10-27T04:13:10.712Z,1761538390.712 [DAT](INFO): DAT read: 04:13:08.6467 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.18, 0.998,-0.586, 1.380, 1.021, PHS= 0.079,-1.562, 0.315, RAW= 156.6, 13.1, CAL= 157.0, 14.8, ROT= 353.0, -14.8 2025-10-27T04:13:10.714Z,1761538390.714 [DAT](INFO): got valid direction response: 04:13:08.6467 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.18, 0.998,-0.586, 1.380, 1.021, PHS= 0.079,-1.562, 0.315, RAW= 156.6, 13.1, CAL= 157.0, 14.8, ROT= 353.0, -14.8 2025-10-27T04:13:10.716Z,1761538390.716 [DAT](INFO): DAT read: Bearing 96.7, -9.8 (Local) 2025-10-27T04:13:10.716Z,1761538390.716 [DAT](INFO): Local bearing/azimuth received: Bearing 96.7, -9.8 (Local) 2025-10-27T04:13:10.718Z,1761538390.718 [DAT](INFO): DAT read: Range 11 to 50 : 46.2 m (Round-trip 61.7 ms) speed 0.3 m/s 2025-10-27T04:13:10.719Z,1761538390.719 [DAT](INFO): DAT read: user:114> 2025-10-27T04:13:10.720Z,1761538390.720 [DAT](INFO): DAT read: Tx time:04:13:09.7309 2025-10-27T04:13:10.721Z,1761538390.721 [DAT](INFO): Ping request sent. 2025-10-27T04:13:10.721Z,1761538390.721 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:13:10.721Z,1761538390.721 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:13:10.723Z,1761538390.723 [DAT](INFO): direction in FSK: [0.959617,-0.117826,0.255446] 2025-10-27T04:13:10.723Z,1761538390.723 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:10.724Z,1761538390.724 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:10.732Z,1761538390.732 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:10.733Z,1761538390.733 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:10.940Z,1761538390.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190815,0.965280,0.178396],[-0.981622,0.188174,0.031767],[-0.002906,-0.181179,0.983446]] 2025-10-27T04:13:11.045Z,1761538391.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 3.532198 s, deltaX: -2.099998 m, approachRate: -0.594530 m/s, rangeRepo size: 4 2025-10-27T04:13:11.047Z,1761538391.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.979836 m, bearing: 276.855748 deg, lat: 36.779386 deg, lon: -121.859564 deg, deltaT: 3.532198 s, deltaX: -2.089725 m, approachRate: -0.591622 m/s, posRepo size: 4 2025-10-27T04:13:11.048Z,1761538391.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.98 m. 2025-10-27T04:13:11.051Z,1761538391.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.979836 m, nav range: 44.248383 m, bearing: 276.562665 deg, approach rate: 0.000000 m/s, LOS rate: -0.044551 deg/s, cmd heading: 277.558124 deg, new cmd heading: 277.494087 deg. 2025-10-27T04:13:11.052Z,1761538391.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.843185 target range: 45.979836 and range: 46.20 m. 2025-10-27T04:13:11.339Z,1761538391.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190510,0.965286,0.178686],[-0.981678,0.188019,0.030930],[-0.003740,-0.181305,0.983420]] 2025-10-27T04:13:11.390Z,1761538391.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.98 m. 2025-10-27T04:13:11.393Z,1761538391.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.979836 m, nav range: 44.106808 m, bearing: 276.549434 deg, approach rate: -0.410059 m/s, LOS rate: -0.038447 deg/s, cmd heading: 277.494084 deg, new cmd heading: 277.454263 deg. 2025-10-27T04:13:11.394Z,1761538391.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842490 target range: 45.979836 and range: 46.20 m. 2025-10-27T04:13:11.744Z,1761538391.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190534,0.965266,0.178769],[-0.981669,0.188246,0.029833],[-0.004856,-0.181176,0.983439]] 2025-10-27T04:13:11.762Z,1761538391.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.98 m. 2025-10-27T04:13:11.765Z,1761538391.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.979836 m, nav range: 43.958809 m, bearing: 276.535507 deg, approach rate: -0.397718 m/s, LOS rate: -0.037552 deg/s, cmd heading: 277.454251 deg, new cmd heading: 277.412329 deg. 2025-10-27T04:13:11.766Z,1761538391.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.841759 target range: 45.979836 and range: 46.20 m. 2025-10-27T04:13:12.146Z,1761538392.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190766,0.964695,0.181580],[-0.981618,0.188587,0.029356],[-0.005924,-0.183842,0.982938]] 2025-10-27T04:13:12.192Z,1761538392.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:12.194Z,1761538392.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.98 m. 2025-10-27T04:13:12.197Z,1761538392.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.979836 m, nav range: 43.791359 m, bearing: 276.513399 deg, approach rate: -0.387731 m/s, LOS rate: -0.051385 deg/s, cmd heading: 277.412341 deg, new cmd heading: 277.345765 deg. 2025-10-27T04:13:12.197Z,1761538392.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.840597 target range: 45.979836 and range: 46.20 m. 2025-10-27T04:13:12.216Z,1761538392.216 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:13:12.216Z,1761538392.216 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:13:12.216Z,1761538392.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:13:12.469Z,1761538392.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748051 2025-10-27T04:13:12.555Z,1761538392.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190987,0.963606,0.187049],[-0.981569,0.188813,0.029542],[-0.006850,-0.189243,0.981906]] 2025-10-27T04:13:12.574Z,1761538392.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.98 m. 2025-10-27T04:13:12.577Z,1761538392.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.979836 m, nav range: 43.643677 m, bearing: 276.493720 deg, approach rate: -0.388561 m/s, LOS rate: -0.051954 deg/s, cmd heading: 277.345760 deg, new cmd heading: 277.286521 deg. 2025-10-27T04:13:12.578Z,1761538392.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839563 target range: 45.979836 and range: 46.20 m. 2025-10-27T04:13:12.721Z,1761538392.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000435 2025-10-27T04:13:12.973Z,1761538392.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252278 2025-10-27T04:13:13.066Z,1761538393.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.98 m. 2025-10-27T04:13:13.069Z,1761538393.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.979836 m, nav range: 43.464584 m, bearing: 276.469675 deg, approach rate: -0.366207 m/s, LOS rate: -0.049370 deg/s, cmd heading: 277.286528 deg, new cmd heading: 277.214096 deg. 2025-10-27T04:13:13.070Z,1761538393.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.838299 target range: 45.979836 and range: 46.20 m. 2025-10-27T04:13:13.224Z,1761538393.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502926 2025-10-27T04:13:13.376Z,1761538393.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190873,0.962245,0.194042],[-0.981580,0.188765,0.029473],[-0.008268,-0.196094,0.980550]] 2025-10-27T04:13:13.421Z,1761538393.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.98 m. 2025-10-27T04:13:13.424Z,1761538393.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.979836 m, nav range: 43.313114 m, bearing: 276.451171 deg, approach rate: -0.422367 m/s, LOS rate: -0.051778 deg/s, cmd heading: 277.214101 deg, new cmd heading: 277.158395 deg. 2025-10-27T04:13:13.425Z,1761538393.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.837327 target range: 45.979836 and range: 46.20 m. 2025-10-27T04:13:13.477Z,1761538393.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755870 2025-10-27T04:13:13.728Z,1761538393.728 [DAT](INFO): DAT read: Rx Time:04:13:12.1949 2025-10-27T04:13:13.728Z,1761538393.728 [DAT](INFO): Rx dataTimestamp_ set to:1761538393.728164 2025-10-27T04:13:13.729Z,1761538393.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008109 2025-10-27T04:13:13.778Z,1761538393.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190060,0.962322,0.194460],[-0.981734,0.188045,0.028941],[-0.008717,-0.196408,0.980483]] 2025-10-27T04:13:13.797Z,1761538393.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.98 m. 2025-10-27T04:13:13.808Z,1761538393.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.979836 m, nav range: 43.165825 m, bearing: 276.433216 deg, approach rate: -0.392441 m/s, LOS rate: -0.048002 deg/s, cmd heading: 277.158394 deg, new cmd heading: 277.104346 deg. 2025-10-27T04:13:13.816Z,1761538393.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836383 target range: 45.979836 and range: 46.20 m. 2025-10-27T04:13:13.980Z,1761538393.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258962 2025-10-27T04:13:14.181Z,1761538394.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188892,0.963208,0.191183],[-0.981957,0.187052,0.027795],[-0.008989,-0.192983,0.981161]] 2025-10-27T04:13:14.206Z,1761538394.206 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +0, -9,A 2025-10-27T04:13:14.219Z,1761538394.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:14.221Z,1761538394.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.98 m. 2025-10-27T04:13:14.224Z,1761538394.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.979836 m, nav range: 42.999386 m, bearing: 276.413034 deg, approach rate: -0.391780 m/s, LOS rate: -0.047690 deg/s, cmd heading: 277.104354 deg, new cmd heading: 277.043574 deg. 2025-10-27T04:13:14.225Z,1761538394.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.835322 target range: 45.979836 and range: 46.20 m. 2025-10-27T04:13:14.238Z,1761538394.238 [DAT](INFO): DAT read: 04:13:12.1949 LVL= 32752, 32753, 31730, 32755, AGC= 66, IDX= 418,-0.14,-0.509,-2.146,-0.090,-0.568, PHS= 0.161,-1.533, 0.434, RAW= 157.3, 10.2, CAL= 157.3, 11.1, ROT= 352.7, -11.1 2025-10-27T04:13:14.255Z,1761538394.255 [DAT](INFO): got valid direction response: 04:13:12.1949 LVL= 32752, 32753, 31730, 32755, AGC= 66, IDX= 418,-0.14,-0.509,-2.146,-0.090,-0.568, PHS= 0.161,-1.533, 0.434, RAW= 157.3, 10.2, CAL= 157.3, 11.1, ROT= 352.7, -11.1 2025-10-27T04:13:14.256Z,1761538394.256 [DAT](INFO): DAT read: Bearing 92.0, -9.5 (Local) 2025-10-27T04:13:14.256Z,1761538394.256 [DAT](INFO): Local bearing/azimuth received: Bearing 92.0, -9.5 (Local) 2025-10-27T04:13:14.258Z,1761538394.258 [DAT](INFO): DAT read: Range 11 to 50 : 44.8 m (Round-trip 59.8 ms) speed 0.4 m/s 2025-10-27T04:13:14.258Z,1761538394.258 [DAT](INFO): DAT read: user:115> 2025-10-27T04:13:14.259Z,1761538394.259 [DAT](INFO): DAT read: Tx time:04:13:13.2809 2025-10-27T04:13:14.260Z,1761538394.260 [DAT](INFO): Ping request sent. 2025-10-27T04:13:14.260Z,1761538394.260 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:13:14.260Z,1761538394.260 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:13:14.261Z,1761538394.261 [DAT](INFO): direction in FSK: [0.973339,-0.124687,0.192522] 2025-10-27T04:13:14.261Z,1761538394.261 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:14.261Z,1761538394.261 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:14.277Z,1761538394.277 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:14.277Z,1761538394.277 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:14.586Z,1761538394.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187619,0.963941,0.188722],[-0.982196,0.185975,0.026544],[-0.009511,-0.190342,0.981672]] 2025-10-27T04:13:14.609Z,1761538394.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.799999 m, deltaT: 3.527790 s, deltaX: -1.400002 m, approachRate: -0.396849 m/s, rangeRepo size: 4 2025-10-27T04:13:14.611Z,1761538394.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 44.586494 m, bearing: 275.789210 deg, lat: 36.779386 deg, lon: -121.859571 deg, deltaT: 3.527790 s, deltaX: -1.393341 m, approachRate: -0.394961 m/s, posRepo size: 4 2025-10-27T04:13:14.612Z,1761538394.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.59 m. 2025-10-27T04:13:14.615Z,1761538394.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.586494 m, nav range: 43.514168 m, bearing: 276.296822 deg, approach rate: 0.000000 m/s, LOS rate: -0.047690 deg/s, cmd heading: 277.043565 deg, new cmd heading: 276.988202 deg. 2025-10-27T04:13:14.632Z,1761538394.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834356 target range: 44.586494 and range: 44.80 m. 2025-10-27T04:13:14.991Z,1761538394.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185404,0.964666,0.187205],[-0.982616,0.183856,0.025755],[-0.009574,-0.188726,0.981983]] 2025-10-27T04:13:15.016Z,1761538395.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.59 m. 2025-10-27T04:13:15.042Z,1761538395.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.586494 m, nav range: 43.353394 m, bearing: 276.277725 deg, approach rate: -0.395760 m/s, LOS rate: -0.047184 deg/s, cmd heading: 276.988213 deg, new cmd heading: 276.930709 deg. 2025-10-27T04:13:15.057Z,1761538395.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.833353 target range: 44.586494 and range: 44.80 m. 2025-10-27T04:13:15.394Z,1761538395.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182884,0.965330,0.186259],[-0.983092,0.181334,0.025470],[-0.009188,-0.187768,0.982170]] 2025-10-27T04:13:15.436Z,1761538395.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:13:15.460Z,1761538395.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.59 m. 2025-10-27T04:13:15.466Z,1761538395.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.586494 m, nav range: 43.135166 m, bearing: 276.246976 deg, approach rate: -0.490244 m/s, LOS rate: -0.069427 deg/s, cmd heading: 276.930703 deg, new cmd heading: 276.837989 deg. 2025-10-27T04:13:15.469Z,1761538395.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.831734 target range: 44.586494 and range: 44.80 m. 2025-10-27T04:13:15.798Z,1761538395.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179978,0.965982,0.185704],[-0.983633,0.178393,0.025352],[-0.008639,-0.187227,0.982279]] 2025-10-27T04:13:15.824Z,1761538395.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.59 m. 2025-10-27T04:13:15.831Z,1761538395.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.586494 m, nav range: 42.950111 m, bearing: 276.221387 deg, approach rate: -0.507659 m/s, LOS rate: -0.070499 deg/s, cmd heading: 276.837976 deg, new cmd heading: 276.760880 deg. 2025-10-27T04:13:15.832Z,1761538395.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830389 target range: 44.586494 and range: 44.80 m. 2025-10-27T04:13:16.202Z,1761538396.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176838,0.966400,0.186546],[-0.984206,0.175190,0.025417],[-0.008118,-0.188094,0.982117]] 2025-10-27T04:13:16.257Z,1761538396.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:16.263Z,1761538396.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.59 m. 2025-10-27T04:13:16.266Z,1761538396.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.586494 m, nav range: 42.723484 m, bearing: 276.201554 deg, approach rate: -0.521534 m/s, LOS rate: -0.045884 deg/s, cmd heading: 276.760877 deg, new cmd heading: 276.701061 deg. 2025-10-27T04:13:16.271Z,1761538396.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829345 target range: 44.586494 and range: 44.80 m. 2025-10-27T04:13:16.440Z,1761538396.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:13:16.500Z,1761538396.500 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:13:16.500Z,1761538396.500 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:13:16.500Z,1761538396.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:13:16.605Z,1761538396.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173842,0.966783,0.187374],[-0.984745,0.172112,0.025591],[-0.007508,-0.188964,0.981955]] 2025-10-27T04:13:16.629Z,1761538396.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.59 m. 2025-10-27T04:13:16.632Z,1761538396.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.586494 m, nav range: 42.509109 m, bearing: 276.183489 deg, approach rate: -0.578515 m/s, LOS rate: -0.048996 deg/s, cmd heading: 276.701072 deg, new cmd heading: 276.646604 deg. 2025-10-27T04:13:16.633Z,1761538396.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.828394 target range: 44.586494 and range: 44.80 m. 2025-10-27T04:13:16.752Z,1761538396.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492337 2025-10-27T04:13:17.004Z,1761538397.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744566 2025-10-27T04:13:17.019Z,1761538397.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170406,0.967308,0.187824],[-0.985352,0.168554,0.025909],[-0.006596,-0.189488,0.981861]] 2025-10-27T04:13:17.046Z,1761538397.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.59 m. 2025-10-27T04:13:17.077Z,1761538397.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.586494 m, nav range: 42.282692 m, bearing: 276.165290 deg, approach rate: -0.545305 m/s, LOS rate: -0.044066 deg/s, cmd heading: 276.646594 deg, new cmd heading: 276.591704 deg. 2025-10-27T04:13:17.086Z,1761538397.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.827436 target range: 44.586494 and range: 44.80 m. 2025-10-27T04:13:17.256Z,1761538397.256 [DAT](INFO): DAT read: Rx Time:04:13:15.7431 2025-10-27T04:13:17.256Z,1761538397.256 [DAT](INFO): Rx dataTimestamp_ set to:1761538397.256098 2025-10-27T04:13:17.257Z,1761538397.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997240 2025-10-27T04:13:17.413Z,1761538397.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166557,0.967858,0.188438],[-0.986017,0.164514,0.026543],[-0.005311,-0.190224,0.981726]] 2025-10-27T04:13:17.482Z,1761538397.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.59 m. 2025-10-27T04:13:17.485Z,1761538397.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.586494 m, nav range: 42.029076 m, bearing: 276.145295 deg, approach rate: -0.580274 m/s, LOS rate: -0.046025 deg/s, cmd heading: 276.591707 deg, new cmd heading: 276.531359 deg. 2025-10-27T04:13:17.486Z,1761538397.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.826383 target range: 44.586494 and range: 44.80 m. 2025-10-27T04:13:17.508Z,1761538397.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248283 2025-10-27T04:13:17.769Z,1761538397.769 [DAT](INFO): DAT read: 04:13:15.7431 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 431,-0.10,-1.176,-2.797,-0.795,-1.165, PHS= 0.091,-1.587, 0.325, RAW= 156.5, 12.9, CAL= 156.8, 14.5, ROT= 353.2, -14.5 2025-10-27T04:13:17.775Z,1761538397.775 [DAT](INFO): got valid direction response: 04:13:15.7431 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 431,-0.10,-1.176,-2.797,-0.795,-1.165, PHS= 0.091,-1.587, 0.325, RAW= 156.5, 12.9, CAL= 156.8, 14.5, ROT= 353.2, -14.5 2025-10-27T04:13:17.776Z,1761538397.776 [DAT](INFO): DAT read: Bearing 94.4, -9.5 (Local) 2025-10-27T04:13:17.776Z,1761538397.776 [DAT](INFO): Local bearing/azimuth received: Bearing 94.4, -9.5 (Local) 2025-10-27T04:13:17.778Z,1761538397.778 [DAT](INFO): DAT read: Range 11 to 50 : 43.5 m (Round-trip 58.1 ms) speed 0.7 m/s 2025-10-27T04:13:17.778Z,1761538397.778 [DAT](INFO): DAT read: user:116> 2025-10-27T04:13:17.780Z,1761538397.780 [DAT](INFO): DAT read: Tx time:04:13:16.8309 2025-10-27T04:13:17.780Z,1761538397.780 [DAT](INFO): Ping request sent. 2025-10-27T04:13:17.780Z,1761538397.780 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:13:17.781Z,1761538397.781 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:13:17.782Z,1761538397.782 [DAT](INFO): direction in FSK: [0.961337,-0.114632,0.250380] 2025-10-27T04:13:17.782Z,1761538397.782 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:17.782Z,1761538397.782 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:17.785Z,1761538397.785 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:17.786Z,1761538397.786 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:17.872Z,1761538397.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162836,0.968261,0.189618],[-0.986645,0.160568,0.027367],[-0.003949,-0.191542,0.981476]] 2025-10-27T04:13:17.932Z,1761538397.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 3.529341 s, deltaX: -1.299999 m, approachRate: -0.368340 m/s, rangeRepo size: 4 2025-10-27T04:13:17.960Z,1761538397.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.292606 m, bearing: 275.534310 deg, lat: 36.779384 deg, lon: -121.859571 deg, deltaT: 3.529341 s, deltaX: -1.293888 m, approachRate: -0.366609 m/s, posRepo size: 4 2025-10-27T04:13:17.961Z,1761538397.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.29 m. 2025-10-27T04:13:17.969Z,1761538397.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.292606 m, nav range: 41.782196 m, bearing: 275.869079 deg, approach rate: 0.000000 m/s, LOS rate: -0.046025 deg/s, cmd heading: 276.531355 deg, new cmd heading: 276.469898 deg. 2025-10-27T04:13:17.970Z,1761538397.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.825310 target range: 43.292606 and range: 43.50 m. 2025-10-27T04:13:18.280Z,1761538398.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159172,0.968811,0.189918],[-0.987247,0.156707,0.028027],[-0.002609,-0.191957,0.981400]] 2025-10-27T04:13:18.324Z,1761538398.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:18.326Z,1761538398.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.29 m. 2025-10-27T04:13:18.329Z,1761538398.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.292606 m, nav range: 41.514454 m, bearing: 275.855787 deg, approach rate: -0.669967 m/s, LOS rate: -0.033474 deg/s, cmd heading: 276.469911 deg, new cmd heading: 276.429778 deg. 2025-10-27T04:13:18.330Z,1761538398.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824610 target range: 43.292606 and range: 43.50 m. 2025-10-27T04:13:18.516Z,1761538398.516 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:13:18.516Z,1761538398.516 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:13:18.516Z,1761538398.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:13:18.682Z,1761538398.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155183,0.969581,0.189289],[-0.987885,0.152489,0.028805],[-0.000936,-0.191466,0.981499]] 2025-10-27T04:13:18.731Z,1761538398.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.29 m. 2025-10-27T04:13:18.734Z,1761538398.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.292606 m, nav range: 41.275227 m, bearing: 275.845108 deg, approach rate: -0.591350 m/s, LOS rate: -0.026551 deg/s, cmd heading: 276.429777 deg, new cmd heading: 276.397554 deg. 2025-10-27T04:13:18.736Z,1761538398.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824048 target range: 43.292606 and range: 43.50 m. 2025-10-27T04:13:18.768Z,1761538398.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987512 2025-10-27T04:13:19.020Z,1761538399.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239832 2025-10-27T04:13:19.125Z,1761538399.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151286,0.970581,0.187312],[-0.988490,0.148391,0.029461],[0.000799,-0.189613,0.981859]] 2025-10-27T04:13:19.183Z,1761538399.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.29 m. 2025-10-27T04:13:19.186Z,1761538399.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.292606 m, nav range: 40.996349 m, bearing: 275.831532 deg, approach rate: -0.616997 m/s, LOS rate: -0.030239 deg/s, cmd heading: 276.397566 deg, new cmd heading: 276.356562 deg. 2025-10-27T04:13:19.187Z,1761538399.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823332 target range: 43.292606 and range: 43.50 m. 2025-10-27T04:13:19.277Z,1761538399.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496429 2025-10-27T04:13:19.528Z,1761538399.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747387 2025-10-27T04:13:19.556Z,1761538399.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.29 m. 2025-10-27T04:13:19.578Z,1761538399.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.292606 m, nav range: 40.794754 m, bearing: 275.821603 deg, approach rate: -0.540322 m/s, LOS rate: -0.026744 deg/s, cmd heading: 276.356557 deg, new cmd heading: 276.326622 deg. 2025-10-27T04:13:19.580Z,1761538399.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822809 target range: 43.292606 and range: 43.50 m. 2025-10-27T04:13:19.780Z,1761538399.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999975 2025-10-27T04:13:19.902Z,1761538399.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143717,0.971842,0.186732],[-0.989610,0.140361,0.031141],[0.004054,-0.189267,0.981917]] 2025-10-27T04:13:19.930Z,1761538399.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.29 m. 2025-10-27T04:13:19.938Z,1761538399.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.292606 m, nav range: 40.553852 m, bearing: 275.812218 deg, approach rate: -0.643526 m/s, LOS rate: -0.025220 deg/s, cmd heading: 276.326614 deg, new cmd heading: 276.298291 deg. 2025-10-27T04:13:19.956Z,1761538399.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.822315 target range: 43.292606 and range: 43.50 m. 2025-10-27T04:13:20.033Z,1761538400.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252231 2025-10-27T04:13:20.284Z,1761538400.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503432 2025-10-27T04:13:20.305Z,1761538400.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141070,0.972150,0.187147],[-0.989985,0.137502,0.031978],[0.005354,-0.189784,0.981811]] 2025-10-27T04:13:20.365Z,1761538400.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:20.396Z,1761538400.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.29 m. 2025-10-27T04:13:20.407Z,1761538400.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.292606 m, nav range: 40.309200 m, bearing: 275.801411 deg, approach rate: -0.560800 m/s, LOS rate: -0.024922 deg/s, cmd heading: 276.298282 deg, new cmd heading: 276.265665 deg. 2025-10-27T04:13:20.408Z,1761538400.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821745 target range: 43.292606 and range: 43.50 m. 2025-10-27T04:13:20.536Z,1761538400.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755424 2025-10-27T04:13:20.711Z,1761538400.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138258,0.972257,0.188683],[-0.990374,0.134455,0.032874],[0.006592,-0.191412,0.981488]] 2025-10-27T04:13:20.735Z,1761538400.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.29 m. 2025-10-27T04:13:20.741Z,1761538400.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.292606 m, nav range: 40.074806 m, bearing: 275.791872 deg, approach rate: -0.636847 m/s, LOS rate: -0.026068 deg/s, cmd heading: 276.265661 deg, new cmd heading: 276.236878 deg. 2025-10-27T04:13:20.744Z,1761538400.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821243 target range: 43.292606 and range: 43.50 m. 2025-10-27T04:13:20.790Z,1761538400.790 [DAT](INFO): DAT read: Rx Time:04:13:19.2901 2025-10-27T04:13:20.790Z,1761538400.790 [DAT](INFO): Rx dataTimestamp_ set to:1761538400.790204 2025-10-27T04:13:20.791Z,1761538400.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010689 2025-10-27T04:13:21.040Z,1761538401.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259475 2025-10-27T04:13:21.200Z,1761538401.200 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -21.92, + +7.29, 20.00 2025-10-27T04:13:21.226Z,1761538401.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.29 m. 2025-10-27T04:13:21.230Z,1761538401.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.292606 m, nav range: 39.782032 m, bearing: 275.779800 deg, approach rate: -0.595815 m/s, LOS rate: -0.024749 deg/s, cmd heading: 276.236865 deg, new cmd heading: 276.200381 deg. 2025-10-27T04:13:21.231Z,1761538401.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820606 target range: 43.292606 and range: 43.50 m. 2025-10-27T04:13:21.298Z,1761538401.298 [DAT](INFO): DAT read: 04:13:19.2901 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.21, 2.493, 0.812, 2.869, 2.414, PHS= 0.181,-1.557, 0.411, RAW= 156.1, 10.4, CAL= 156.1, 11.3, ROT= 353.9, -11.3 2025-10-27T04:13:21.299Z,1761538401.299 [DAT](INFO): got valid direction response: 04:13:19.2901 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.21, 2.493, 0.812, 2.869, 2.414, PHS= 0.181,-1.557, 0.411, RAW= 156.1, 10.4, CAL= 156.1, 11.3, ROT= 353.9, -11.3 2025-10-27T04:13:21.300Z,1761538401.300 [DAT](INFO): DAT read: Bearing 89.7, -8.0 (Local) 2025-10-27T04:13:21.301Z,1761538401.301 [DAT](INFO): Local bearing/azimuth received: Bearing 89.7, -8.0 (Local) 2025-10-27T04:13:21.302Z,1761538401.302 [DAT](INFO): DAT read: Range 11 to 50 : 41.2 m (Round-trip 55.0 ms) speed 0.7 m/s 2025-10-27T04:13:21.303Z,1761538401.303 [DAT](INFO): DAT read: user:117> 2025-10-27T04:13:21.303Z,1761538401.303 [DAT](INFO): DAT read: Tx time:04:13:20.3809 2025-10-27T04:13:21.304Z,1761538401.304 [DAT](INFO): Ping request sent. 2025-10-27T04:13:21.304Z,1761538401.304 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:13:21.304Z,1761538401.304 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:13:21.305Z,1761538401.305 [DAT](INFO): direction in FSK: [0.975062,-0.104204,0.195946] 2025-10-27T04:13:21.305Z,1761538401.305 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:21.306Z,1761538401.306 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:21.318Z,1761538401.318 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:21.318Z,1761538401.318 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:21.620Z,1761538401.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.200001 m, deltaT: 3.530834 s, deltaX: -2.299999 m, approachRate: -0.651404 m/s, rangeRepo size: 4 2025-10-27T04:13:21.622Z,1761538401.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.003300 m, bearing: 274.141337 deg, lat: 36.779383 deg, lon: -121.859571 deg, deltaT: 3.530834 s, deltaX: -2.289307 m, approachRate: -0.648376 m/s, posRepo size: 4 2025-10-27T04:13:21.627Z,1761538401.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.00 m. 2025-10-27T04:13:21.630Z,1761538401.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.003300 m, nav range: 39.551739 m, bearing: 275.510189 deg, approach rate: 0.000000 m/s, LOS rate: -0.024749 deg/s, cmd heading: 276.200392 deg, new cmd heading: 276.171532 deg. 2025-10-27T04:13:21.631Z,1761538401.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.820103 target range: 41.003300 and range: 41.20 m. 2025-10-27T04:13:21.973Z,1761538401.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131101,0.974198,0.183712],[-0.991329,0.127161,0.033116],[0.008901,-0.186461,0.982422]] 2025-10-27T04:13:21.998Z,1761538401.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.00 m. 2025-10-27T04:13:22.001Z,1761538402.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.003300 m, nav range: 39.305046 m, bearing: 275.500766 deg, approach rate: -0.644448 m/s, LOS rate: -0.024769 deg/s, cmd heading: 276.171541 deg, new cmd heading: 276.143096 deg. 2025-10-27T04:13:22.002Z,1761538402.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819606 target range: 41.003300 and range: 41.20 m. 2025-10-27T04:13:22.365Z,1761538402.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130304,0.974581,0.182242],[-0.991435,0.126457,0.032628],[0.008753,-0.184933,0.982712]] 2025-10-27T04:13:22.424Z,1761538402.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:22.426Z,1761538402.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.00 m. 2025-10-27T04:13:22.430Z,1761538402.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.003300 m, nav range: 39.085320 m, bearing: 275.490778 deg, approach rate: -0.512502 m/s, LOS rate: -0.023429 deg/s, cmd heading: 276.143100 deg, new cmd heading: 276.112966 deg. 2025-10-27T04:13:22.433Z,1761538402.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819080 target range: 41.003300 and range: 41.20 m. 2025-10-27T04:13:22.552Z,1761538402.552 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:13:22.553Z,1761538402.553 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:13:22.553Z,1761538402.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:13:22.773Z,1761538402.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130081,0.975000,0.180147],[-0.991471,0.126434,0.031633],[0.008065,-0.182726,0.983131]] 2025-10-27T04:13:22.804Z,1761538402.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500097 2025-10-27T04:13:22.819Z,1761538402.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.00 m. 2025-10-27T04:13:22.822Z,1761538402.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.003300 m, nav range: 38.898220 m, bearing: 275.482279 deg, approach rate: -0.481669 m/s, LOS rate: -0.021984 deg/s, cmd heading: 276.112965 deg, new cmd heading: 276.087347 deg. 2025-10-27T04:13:22.827Z,1761538402.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818633 target range: 41.003300 and range: 41.20 m. 2025-10-27T04:13:23.056Z,1761538403.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752324 2025-10-27T04:13:23.208Z,1761538403.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130446,0.975129,0.179187],[-0.991427,0.126939,0.030950],[0.007435,-0.181688,0.983328]] 2025-10-27T04:13:23.244Z,1761538403.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.00 m. 2025-10-27T04:13:23.247Z,1761538403.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.003300 m, nav range: 38.683342 m, bearing: 275.474230 deg, approach rate: -0.500401 m/s, LOS rate: -0.018848 deg/s, cmd heading: 276.087338 deg, new cmd heading: 276.063057 deg. 2025-10-27T04:13:23.248Z,1761538403.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.818209 target range: 41.003300 and range: 41.20 m. 2025-10-27T04:13:23.308Z,1761538403.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004224 2025-10-27T04:13:23.560Z,1761538403.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256142 2025-10-27T04:13:23.608Z,1761538403.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130898,0.975095,0.179039],[-0.991373,0.127515,0.030330],[0.006744,-0.181464,0.983374]] 2025-10-27T04:13:23.627Z,1761538403.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.00 m. 2025-10-27T04:13:23.630Z,1761538403.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.003300 m, nav range: 38.502365 m, bearing: 275.467262 deg, approach rate: -0.472645 m/s, LOS rate: -0.018285 deg/s, cmd heading: 276.063050 deg, new cmd heading: 276.042046 deg. 2025-10-27T04:13:23.643Z,1761538403.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817842 target range: 41.003300 and range: 41.20 m. 2025-10-27T04:13:23.812Z,1761538403.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508277 2025-10-27T04:13:24.001Z,1761538404.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131772,0.974936,0.179266],[-0.991263,0.128529,0.029634],[0.005850,-0.181604,0.983354]] 2025-10-27T04:13:24.034Z,1761538404.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.00 m. 2025-10-27T04:13:24.037Z,1761538404.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.003300 m, nav range: 38.315063 m, bearing: 275.459731 deg, approach rate: -0.459816 m/s, LOS rate: -0.018577 deg/s, cmd heading: 276.042041 deg, new cmd heading: 276.019340 deg. 2025-10-27T04:13:24.038Z,1761538404.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817446 target range: 41.003300 and range: 41.20 m. 2025-10-27T04:13:24.064Z,1761538404.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760040 2025-10-27T04:13:24.316Z,1761538404.316 [DAT](INFO): DAT read: Rx Time:04:13:22.8372 2025-10-27T04:13:24.316Z,1761538404.316 [DAT](INFO): Rx dataTimestamp_ set to:1761538404.316202 2025-10-27T04:13:24.317Z,1761538404.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013152 2025-10-27T04:13:24.484Z,1761538404.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:24.486Z,1761538404.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.00 m. 2025-10-27T04:13:24.489Z,1761538404.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.003300 m, nav range: 38.126678 m, bearing: 275.452111 deg, approach rate: -0.417219 m/s, LOS rate: -0.016960 deg/s, cmd heading: 276.019337 deg, new cmd heading: 275.996363 deg. 2025-10-27T04:13:24.490Z,1761538404.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.817045 target range: 41.003300 and range: 41.20 m. 2025-10-27T04:13:24.569Z,1761538404.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265216 2025-10-27T04:13:24.826Z,1761538404.826 [DAT](INFO): DAT read: 04:13:22.8372 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 419, 0.06,-2.267, 2.379,-1.924,-2.291, PHS= 0.126,-1.568, 0.323, RAW= 155.4, 12.4, CAL= 155.6, 13.9, ROT= 354.4, -13.9 2025-10-27T04:13:24.827Z,1761538404.827 [DAT](INFO): got valid direction response: 04:13:22.8372 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 419, 0.06,-2.267, 2.379,-1.924,-2.291, PHS= 0.126,-1.568, 0.323, RAW= 155.4, 12.4, CAL= 155.6, 13.9, ROT= 354.4, -13.9 2025-10-27T04:13:24.828Z,1761538404.828 [DAT](INFO): DAT read: Bearing 92.1, -7.8 (Local) 2025-10-27T04:13:24.829Z,1761538404.829 [DAT](INFO): Local bearing/azimuth received: Bearing 92.1, -7.8 (Local) 2025-10-27T04:13:24.830Z,1761538404.830 [DAT](INFO): DAT read: Range 11 to 50 : 39.1 m (Round-trip 52.2 ms) speed 0.3 m/s 2025-10-27T04:13:24.831Z,1761538404.831 [DAT](INFO): DAT read: user:118> 2025-10-27T04:13:24.832Z,1761538404.832 [DAT](INFO): DAT read: Tx time:04:13:23.9308 2025-10-27T04:13:24.832Z,1761538404.832 [DAT](INFO): Ping request sent. 2025-10-27T04:13:24.832Z,1761538404.832 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:13:24.832Z,1761538404.832 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:13:24.833Z,1761538404.833 [DAT](INFO): direction in FSK: [0.966084,-0.094725,0.240228] 2025-10-27T04:13:24.833Z,1761538404.833 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:24.834Z,1761538404.834 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:24.840Z,1761538404.840 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:24.840Z,1761538404.840 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:24.850Z,1761538404.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134429,0.974467,0.179840],[-0.990917,0.131539,0.027953],[0.003583,-0.181964,0.983299]] 2025-10-27T04:13:24.922Z,1761538404.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.099998 m, deltaT: 3.528224 s, deltaX: -2.100002 m, approachRate: -0.595201 m/s, rangeRepo size: 4 2025-10-27T04:13:24.936Z,1761538404.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.913559 m, bearing: 274.793829 deg, lat: 36.779382 deg, lon: -121.859571 deg, deltaT: 3.528224 s, deltaX: -2.089741 m, approachRate: -0.592293 m/s, posRepo size: 4 2025-10-27T04:13:24.937Z,1761538404.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:13:24.946Z,1761538404.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.913559 m, nav range: 37.954525 m, bearing: 275.348083 deg, approach rate: 0.000000 m/s, LOS rate: -0.016960 deg/s, cmd heading: 275.996360 deg, new cmd heading: 275.974188 deg. 2025-10-27T04:13:24.952Z,1761538404.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816658 target range: 38.913559 and range: 39.10 m. 2025-10-27T04:13:25.274Z,1761538405.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135623,0.974300,0.179852],[-0.990757,0.132907,0.027124],[0.002523,-0.181869,0.983320]] 2025-10-27T04:13:25.309Z,1761538405.309 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T04:13:25.309Z,1761538405.309 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:13:25.309Z,1761538405.309 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T04:13:25.311Z,1761538405.311 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.099998 m (mode 2.000000 count ). 2025-10-27T04:13:25.311Z,1761538405.311 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T04:13:25.311Z,1761538405.311 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T04:13:25.313Z,1761538405.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:13:25.316Z,1761538405.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.913559 m, nav range: 37.792339 m, bearing: 275.336424 deg, approach rate: -0.414253 m/s, LOS rate: -0.029907 deg/s, cmd heading: 275.974176 deg, new cmd heading: 275.939049 deg. 2025-10-27T04:13:25.317Z,1761538405.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816045 target range: 38.913559 and range: 39.10 m. 2025-10-27T04:13:25.674Z,1761538405.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137514,0.974315,0.178327],[-0.990499,0.134978,0.026337],[0.001590,-0.180254,0.983619]] 2025-10-27T04:13:25.706Z,1761538405.706 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T04:13:25.706Z,1761538405.706 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T04:13:25.710Z,1761538405.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:13:25.715Z,1761538405.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.913559 m, nav range: 37.639919 m, bearing: 275.324941 deg, approach rate: -0.384028 m/s, LOS rate: -0.029049 deg/s, cmd heading: 275.939041 deg, new cmd heading: 275.904453 deg. 2025-10-27T04:13:25.717Z,1761538405.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815441 target range: 38.913559 and range: 39.10 m. 2025-10-27T04:13:26.078Z,1761538406.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139020,0.974549,0.175863],[-0.990289,0.136642,0.025619],[0.000937,-0.177717,0.984081]] 2025-10-27T04:13:26.118Z,1761538406.118 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T04:13:26.118Z,1761538406.118 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T04:13:26.121Z,1761538406.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:13:26.124Z,1761538406.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.913559 m, nav range: 37.484573 m, bearing: 275.312795 deg, approach rate: -0.378422 m/s, LOS rate: -0.029710 deg/s, cmd heading: 275.904453 deg, new cmd heading: 275.867865 deg. 2025-10-27T04:13:26.125Z,1761538406.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814803 target range: 38.913559 and range: 39.10 m. 2025-10-27T04:13:26.482Z,1761538406.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140758,0.974751,0.173345],[-0.990044,0.138555,0.024807],[0.000163,-0.175111,0.984549]] 2025-10-27T04:13:26.530Z,1761538406.530 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T04:13:26.530Z,1761538406.530 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:13:26.530Z,1761538406.530 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T04:13:26.530Z,1761538406.530 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:13:26.531Z,1761538406.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:26.533Z,1761538406.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:13:26.536Z,1761538406.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.913559 m, nav range: 37.320541 m, bearing: 275.297217 deg, approach rate: -0.398023 m/s, LOS rate: -0.037966 deg/s, cmd heading: 275.867871 deg, new cmd heading: 275.820931 deg. 2025-10-27T04:13:26.537Z,1761538406.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813983 target range: 38.913559 and range: 39.10 m. 2025-10-27T04:13:26.584Z,1761538406.584 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:13:26.584Z,1761538406.584 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:13:26.584Z,1761538406.584 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:13:26.836Z,1761538406.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003985 2025-10-27T04:13:26.938Z,1761538406.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:13:26.944Z,1761538406.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.913559 m, nav range: 37.171722 m, bearing: 275.282965 deg, approach rate: -0.367470 m/s, LOS rate: -0.035333 deg/s, cmd heading: 275.820934 deg, new cmd heading: 275.778006 deg. 2025-10-27T04:13:26.945Z,1761538406.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813234 target range: 38.913559 and range: 39.10 m. 2025-10-27T04:13:27.088Z,1761538407.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256072 2025-10-27T04:13:27.292Z,1761538407.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142885,0.974433,0.173391],[-0.989738,0.140907,0.023734],[-0.001305,-0.175003,0.984567]] 2025-10-27T04:13:27.340Z,1761538407.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508014 2025-10-27T04:13:27.348Z,1761538407.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:13:27.355Z,1761538407.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.913559 m, nav range: 37.001789 m, bearing: 275.263555 deg, approach rate: -0.414238 m/s, LOS rate: -0.047532 deg/s, cmd heading: 275.778013 deg, new cmd heading: 275.719515 deg. 2025-10-27T04:13:27.356Z,1761538407.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812213 target range: 38.913559 and range: 39.10 m. 2025-10-27T04:13:27.592Z,1761538407.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759877 2025-10-27T04:13:27.702Z,1761538407.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143759,0.974285,0.173499],[-0.989611,0.141873,0.023289],[-0.001924,-0.175044,0.984559]] 2025-10-27T04:13:27.767Z,1761538407.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:13:27.770Z,1761538407.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.913559 m, nav range: 36.836571 m, bearing: 275.244283 deg, approach rate: -0.397493 m/s, LOS rate: -0.046573 deg/s, cmd heading: 275.719519 deg, new cmd heading: 275.661445 deg. 2025-10-27T04:13:27.771Z,1761538407.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811200 target range: 38.913559 and range: 39.10 m. 2025-10-27T04:13:27.844Z,1761538407.844 [DAT](INFO): DAT read: Rx Time:04:13:26.3853 2025-10-27T04:13:27.845Z,1761538407.845 [DAT](INFO): Rx dataTimestamp_ set to:1761538407.844297 2025-10-27T04:13:27.845Z,1761538407.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013189 2025-10-27T04:13:28.096Z,1761538408.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263796 2025-10-27T04:13:28.101Z,1761538408.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144213,0.974108,0.174118],[-0.989544,0.142391,0.022979],[-0.002409,-0.175611,0.984457]] 2025-10-27T04:13:28.120Z,1761538408.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:13:28.122Z,1761538408.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.913559 m, nav range: 36.672424 m, bearing: 275.224852 deg, approach rate: -0.460883 m/s, LOS rate: -0.054803 deg/s, cmd heading: 275.661435 deg, new cmd heading: 275.602880 deg. 2025-10-27T04:13:28.124Z,1761538408.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810178 target range: 38.913559 and range: 39.10 m. 2025-10-27T04:13:28.357Z,1761538408.357 [DAT](INFO): DAT read: 04:13:26.3853 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416, 0.09, 1.455,-0.226, 1.814, 1.382, PHS= 0.175,-1.563, 0.389, RAW= 155.7, 10.8, CAL= 155.7, 11.8, ROT= 354.3, -11.8 2025-10-27T04:13:28.358Z,1761538408.358 [DAT](INFO): got valid direction response: 04:13:26.3853 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416, 0.09, 1.455,-0.226, 1.814, 1.382, PHS= 0.175,-1.563, 0.389, RAW= 155.7, 10.8, CAL= 155.7, 11.8, ROT= 354.3, -11.8 2025-10-27T04:13:28.365Z,1761538408.365 [DAT](INFO): DAT read: Bearing 90.1, -7.5 (Local) 2025-10-27T04:13:28.365Z,1761538408.365 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, -7.5 (Local) 2025-10-27T04:13:28.384Z,1761538408.384 [DAT](INFO): DAT read: Range 11 to 50 : 37.7 m (Round-trip 50.3 ms) speed 0.3 m/s 2025-10-27T04:13:28.385Z,1761538408.385 [DAT](INFO): DAT read: user:119> 2025-10-27T04:13:28.386Z,1761538408.386 [DAT](INFO): DAT read: Tx time:04:13:27.4808 2025-10-27T04:13:28.386Z,1761538408.386 [DAT](INFO): Ping request sent. 2025-10-27T04:13:28.386Z,1761538408.386 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:13:28.387Z,1761538408.387 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:13:28.388Z,1761538408.388 [DAT](INFO): direction in FSK: [0.974027,-0.097221,0.204496] 2025-10-27T04:13:28.388Z,1761538408.388 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:28.388Z,1761538408.388 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:28.413Z,1761538408.413 [DAT](INFO): publishing transmit ping time 2025-10-27T04:13:28.413Z,1761538408.413 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:28.437Z,1761538408.437 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.050880 2025-10-27T04:13:28.502Z,1761538408.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143484,0.973952,0.175586],[-0.989650,0.141652,0.022988],[-0.002483,-0.177067,0.984196]] 2025-10-27T04:13:28.600Z,1761538408.600 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.213652 2025-10-27T04:13:28.608Z,1761538408.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.700001 m, deltaT: 3.529930 s, deltaX: -1.399998 m, approachRate: -0.396608 m/s, rangeRepo size: 4 2025-10-27T04:13:28.610Z,1761538408.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.519642 m, bearing: 274.757228 deg, lat: 36.779380 deg, lon: -121.859573 deg, deltaT: 3.529930 s, deltaX: -1.393917 m, approachRate: -0.394885 m/s, posRepo size: 4 2025-10-27T04:13:28.610Z,1761538408.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.52 m. 2025-10-27T04:13:28.617Z,1761538408.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.519642 m, nav range: 36.616398 m, bearing: 274.759569 deg, approach rate: 0.000000 m/s, LOS rate: -0.054803 deg/s, cmd heading: 275.602887 deg, new cmd heading: 275.523482 deg. 2025-10-27T04:13:28.618Z,1761538408.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808792 target range: 37.519642 and range: 37.70 m. 2025-10-27T04:13:28.852Z,1761538408.852 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.465451 2025-10-27T04:13:28.941Z,1761538408.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142051,0.974396,0.174281],[-0.989857,0.140240,0.022724],[-0.002299,-0.175742,0.984434]] 2025-10-27T04:13:28.968Z,1761538408.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:28.970Z,1761538408.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.52 m. 2025-10-27T04:13:28.974Z,1761538408.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.519642 m, nav range: 36.446033 m, bearing: 274.740448 deg, approach rate: -0.463394 m/s, LOS rate: -0.052251 deg/s, cmd heading: 275.523493 deg, new cmd heading: 275.465863 deg. 2025-10-27T04:13:28.975Z,1761538408.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807786 target range: 37.519642 and range: 37.70 m. 2025-10-27T04:13:29.104Z,1761538409.104 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.717788 2025-10-27T04:13:29.340Z,1761538409.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140011,0.974490,0.175406],[-0.990148,0.138181,0.022663],[-0.002153,-0.176851,0.984235]] 2025-10-27T04:13:29.356Z,1761538409.356 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.969635 2025-10-27T04:13:29.403Z,1761538409.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.52 m. 2025-10-27T04:13:29.406Z,1761538409.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.519642 m, nav range: 36.233551 m, bearing: 274.721046 deg, approach rate: -0.496090 m/s, LOS rate: -0.045565 deg/s, cmd heading: 275.465873 deg, new cmd heading: 275.407325 deg. 2025-10-27T04:13:29.411Z,1761538409.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806765 target range: 37.519642 and range: 37.70 m. 2025-10-27T04:13:29.608Z,1761538409.608 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.221482 2025-10-27T04:13:29.763Z,1761538409.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137172,0.974608,0.176982],[-0.990545,0.135307,0.022620],[-0.001901,-0.178412,0.983954]] 2025-10-27T04:13:29.782Z,1761538409.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.52 m. 2025-10-27T04:13:29.805Z,1761538409.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.519642 m, nav range: 36.025349 m, bearing: 274.702793 deg, approach rate: -0.543314 m/s, LOS rate: -0.047907 deg/s, cmd heading: 275.407325 deg, new cmd heading: 275.352250 deg. 2025-10-27T04:13:29.806Z,1761538409.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805803 target range: 37.519642 and range: 37.70 m. 2025-10-27T04:13:29.860Z,1761538409.860 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.473886 2025-10-27T04:13:30.112Z,1761538410.112 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.725545 2025-10-27T04:13:30.229Z,1761538410.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.52 m. 2025-10-27T04:13:30.239Z,1761538410.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.519642 m, nav range: 35.805065 m, bearing: 274.683250 deg, approach rate: -0.495019 m/s, LOS rate: -0.044187 deg/s, cmd heading: 275.352246 deg, new cmd heading: 275.293256 deg. 2025-10-27T04:13:30.243Z,1761538410.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804774 target range: 37.519642 and range: 37.70 m. 2025-10-27T04:13:30.364Z,1761538410.364 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.977870 2025-10-27T04:13:30.606Z,1761538410.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130086,0.974788,0.181293],[-0.991502,0.128149,0.022407],[-0.001391,-0.182667,0.983174]] 2025-10-27T04:13:30.616Z,1761538410.616 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.229569 2025-10-27T04:13:30.668Z,1761538410.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.52 m. 2025-10-27T04:13:30.675Z,1761538410.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.519642 m, nav range: 35.554947 m, bearing: 274.663914 deg, approach rate: -0.566677 m/s, LOS rate: -0.044117 deg/s, cmd heading: 275.293261 deg, new cmd heading: 275.234844 deg. 2025-10-27T04:13:30.676Z,1761538410.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803754 target range: 37.519642 and range: 37.70 m. 2025-10-27T04:13:30.869Z,1761538410.869 [DAT](INFO): DAT read: Rx Time:04:13:29.6587 2025-10-27T04:13:30.869Z,1761538410.869 [DAT](INFO): Rx dataTimestamp_ set to:1761538410.868705 2025-10-27T04:13:30.870Z,1761538410.870 [DAT](INFO): DAT read: Bearing 93.2, -8.5 (Local) 2025-10-27T04:13:30.871Z,1761538410.871 [DAT](INFO): Local bearing/azimuth received: Bearing 93.2, -8.5 (Local) 2025-10-27T04:13:30.881Z,1761538410.881 [DAT](INFO): DAT read: Range 11 to 50 : 36.6 m (trip time 24.4 ms) speed 0.5 2025-10-27T04:13:30.885Z,1761538410.885 [DAT](INFO): DAT read: 04:13:29.6587 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 432,-0.28, 0.921,-0.740, 1.269, 0.945, PHS= 0.078,-1.640, 0.280, RAW= 155.5, 13.9, CAL= 155.9, 15.8, ROT= 354.1, -15.8 2025-10-27T04:13:30.886Z,1761538410.886 [DAT](INFO): got valid direction response: 04:13:29.6587 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 432,-0.28, 0.921,-0.740, 1.269, 0.945, PHS= 0.078,-1.640, 0.280, RAW= 155.5, 13.9, CAL= 155.9, 15.8, ROT= 354.1, -15.8 2025-10-27T04:13:30.887Z,1761538410.887 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:13:30.888Z,1761538410.888 [DAT](INFO): direction in FSK: [0.957121,-0.098909,0.272280] 2025-10-27T04:13:30.888Z,1761538410.888 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:30.892Z,1761538410.892 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.505343 2025-10-27T04:13:31.020Z,1761538411.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125729,0.975002,0.183201],[-0.992064,0.123753,0.022224],[-0.001003,-0.184542,0.982824]] 2025-10-27T04:13:31.062Z,1761538411.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.599998 m, deltaT: 2.518883 s, deltaX: -1.100002 m, approachRate: -0.436702 m/s, rangeRepo size: 4 2025-10-27T04:13:31.068Z,1761538411.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.425022 m, bearing: 274.414619 deg, lat: 36.779379 deg, lon: -121.859571 deg, deltaT: 2.518883 s, deltaX: -1.094620 m, approachRate: -0.434566 m/s, posRepo size: 4 2025-10-27T04:13:31.069Z,1761538411.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.43 m. 2025-10-27T04:13:31.076Z,1761538411.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.425022 m, nav range: 35.146812 m, bearing: 274.467595 deg, approach rate: 0.000000 m/s, LOS rate: -0.044117 deg/s, cmd heading: 275.234849 deg, new cmd heading: 275.182861 deg. 2025-10-27T04:13:31.077Z,1761538411.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802847 target range: 36.425022 and range: 36.60 m. 2025-10-27T04:13:31.121Z,1761538411.121 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.734286 2025-10-27T04:13:31.372Z,1761538411.372 [DAT](INFO): DAT read: Rx Time:04:13:30.1584 2025-10-27T04:13:31.373Z,1761538411.373 [DAT](INFO): Rx dataTimestamp_ set to:1761538411.372675 2025-10-27T04:13:31.374Z,1761538411.374 [DAT](INFO): DAT read: Bearing 93.3, -8.3 (Local) 2025-10-27T04:13:31.375Z,1761538411.375 [DAT](INFO): Local bearing/azimuth received: Bearing 93.3, -8.3 (Local) 2025-10-27T04:13:31.377Z,1761538411.377 [DAT](INFO): DAT read: Range 11 to 50 : 36.2 m (trip time 24.1 ms) speed 0.5 2025-10-27T04:13:31.381Z,1761538411.381 [DAT](INFO): DAT read: 04:13:30.1584 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 510,-0.48,-2.851, 1.790,-2.518,-2.826, PHS= 0.076,-1.622, 0.264, RAW= 155.2, 14.1, CAL= 155.6, 16.0, ROT= 354.4, -16.0 2025-10-27T04:13:31.383Z,1761538411.383 [DAT](INFO): got valid direction response: 04:13:30.1584 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 510,-0.48,-2.851, 1.790,-2.518,-2.826, PHS= 0.076,-1.622, 0.264, RAW= 155.2, 14.1, CAL= 155.6, 16.0, ROT= 354.4, -16.0 2025-10-27T04:13:31.383Z,1761538411.383 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T04:13:31.384Z,1761538411.384 [DAT](INFO): direction in FSK: [0.956674,-0.093803,0.275637] 2025-10-27T04:13:31.384Z,1761538411.384 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:31.417Z,1761538411.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121402,0.975337,0.184333],[-0.992603,0.119381,0.022067],[-0.000483,-0.185649,0.982616]] 2025-10-27T04:13:31.451Z,1761538411.451 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.065014 2025-10-27T04:13:31.560Z,1761538411.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 0.503970 s, deltaX: -0.399998 m, approachRate: -0.793693 m/s, rangeRepo size: 4 2025-10-27T04:13:31.562Z,1761538411.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.026936 m, bearing: 274.519333 deg, lat: 36.779379 deg, lon: -121.859569 deg, deltaT: 0.503970 s, deltaX: -0.398087 m, approachRate: -0.789901 m/s, posRepo size: 4 2025-10-27T04:13:31.567Z,1761538411.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.03 m. 2025-10-27T04:13:31.570Z,1761538411.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.026936 m, nav range: 34.616276 m, bearing: 274.472823 deg, approach rate: 0.000000 m/s, LOS rate: -0.044117 deg/s, cmd heading: 275.182858 deg, new cmd heading: 275.116866 deg. 2025-10-27T04:13:31.575Z,1761538411.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801695 target range: 36.026936 and range: 36.20 m. 2025-10-27T04:13:31.625Z,1761538411.625 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.238131 2025-10-27T04:13:31.884Z,1761538411.884 [DAT](INFO): DAT read: Rx Time:04:13:30.6582 2025-10-27T04:13:31.885Z,1761538411.885 [DAT](INFO): Rx dataTimestamp_ set to:1761538411.884262 2025-10-27T04:13:31.886Z,1761538411.886 [DAT](INFO): DAT read: Bearing 89.5, -7.3 (Local) 2025-10-27T04:13:31.886Z,1761538411.886 [DAT](INFO): Local bearing/azimuth received: Bearing 89.5, -7.3 (Local) 2025-10-27T04:13:31.888Z,1761538411.888 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed 0.6 2025-10-27T04:13:31.893Z,1761538411.893 [DAT](INFO): DAT read: 04:13:30.6582 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.29,-2.365, 2.234,-2.029,-2.435, PHS= 0.172,-1.569, 0.362, RAW= 155.1, 11.2, CAL= 155.1, 12.4, ROT= 354.9, -12.4 2025-10-27T04:13:31.894Z,1761538411.894 [DAT](INFO): got valid direction response: 04:13:30.6582 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.29,-2.365, 2.234,-2.029,-2.435, PHS= 0.172,-1.569, 0.362, RAW= 155.1, 11.2, CAL= 155.1, 12.4, ROT= 354.9, -12.4 2025-10-27T04:13:31.894Z,1761538411.894 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T04:13:31.895Z,1761538411.895 [DAT](INFO): direction in FSK: [0.972806,-0.086821,0.214735] 2025-10-27T04:13:31.896Z,1761538411.896 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:31.899Z,1761538411.899 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.512972 2025-10-27T04:13:31.913Z,1761538411.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.511587 s, deltaX: -0.500000 m, approachRate: -0.977351 m/s, rangeRepo size: 4 2025-10-27T04:13:31.915Z,1761538411.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.529198 m, bearing: 274.298600 deg, lat: 36.779379 deg, lon: -121.859569 deg, deltaT: 0.511587 s, deltaX: -0.497738 m, approachRate: -0.972929 m/s, posRepo size: 4 2025-10-27T04:13:31.916Z,1761538411.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.53 m. 2025-10-27T04:13:31.919Z,1761538411.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.529198 m, nav range: 34.386238 m, bearing: 274.454385 deg, approach rate: 0.000000 m/s, LOS rate: -0.044117 deg/s, cmd heading: 275.116878 deg, new cmd heading: 275.070190 deg. 2025-10-27T04:13:31.920Z,1761538411.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800880 target range: 35.529198 and range: 35.70 m. 2025-10-27T04:13:32.136Z,1761538412.136 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.749747 2025-10-27T04:13:32.242Z,1761538412.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111328,0.976437,0.184871],[-0.993784,0.109302,0.021145],[0.000440,-0.186075,0.982535]] 2025-10-27T04:13:32.347Z,1761538412.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:32.355Z,1761538412.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.53 m. 2025-10-27T04:13:32.358Z,1761538412.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.529198 m, nav range: 34.129417 m, bearing: 274.437893 deg, approach rate: -0.587961 m/s, LOS rate: -0.038040 deg/s, cmd heading: 275.070187 deg, new cmd heading: 275.020339 deg. 2025-10-27T04:13:32.367Z,1761538412.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800010 target range: 35.529198 and range: 35.70 m. 2025-10-27T04:13:32.389Z,1761538412.389 [DAT](INFO): DAT read: Rx Time:04:13:31.1581 2025-10-27T04:13:32.389Z,1761538412.389 [DAT](INFO): Rx dataTimestamp_ set to:1761538412.388864 2025-10-27T04:13:32.390Z,1761538412.390 [DAT](INFO): DAT read: Bearing 91.4, -7.5 (Local) 2025-10-27T04:13:32.391Z,1761538412.391 [DAT](INFO): Local bearing/azimuth received: Bearing 91.4, -7.5 (Local) 2025-10-27T04:13:32.393Z,1761538412.393 [DAT](INFO): DAT read: Range 11 to 50 : 35.6 m (trip time 23.7 ms) speed 0.5 2025-10-27T04:13:32.398Z,1761538412.398 [DAT](INFO): DAT read: 04:13:31.1581 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.07,-1.429,-3.083,-1.110,-1.452, PHS= 0.125,-1.586, 0.298, RAW= 154.8, 12.9, CAL= 155.0, 14.4, ROT= 355.0, -14.4 2025-10-27T04:13:32.400Z,1761538412.400 [DAT](INFO): got valid direction response: 04:13:31.1581 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.07,-1.429,-3.083,-1.110,-1.452, PHS= 0.125,-1.586, 0.298, RAW= 154.8, 12.9, CAL= 155.0, 14.4, ROT= 355.0, -14.4 2025-10-27T04:13:32.400Z,1761538412.400 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T04:13:32.401Z,1761538412.401 [DAT](INFO): direction in FSK: [0.964897,-0.084417,0.248690] 2025-10-27T04:13:32.401Z,1761538412.401 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:32.405Z,1761538412.405 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.018372 2025-10-27T04:13:32.640Z,1761538412.640 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.253992 2025-10-27T04:13:32.685Z,1761538412.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106516,0.977141,0.183981],[-0.994311,0.104554,0.020362],[0.000661,-0.185104,0.982719]] 2025-10-27T04:13:32.843Z,1761538412.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.599998 m, deltaT: 0.504602 s, deltaX: -0.100002 m, approachRate: -0.198181 m/s, rangeRepo size: 4 2025-10-27T04:13:32.845Z,1761538412.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.429150 m, bearing: 273.922576 deg, lat: 36.779378 deg, lon: -121.859571 deg, deltaT: 0.504602 s, deltaX: -0.100048 m, approachRate: -0.198271 m/s, posRepo size: 4 2025-10-27T04:13:32.846Z,1761538412.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.43 m. 2025-10-27T04:13:32.853Z,1761538412.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.429150 m, nav range: 34.076443 m, bearing: 274.308727 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 275.020326 deg, new cmd heading: 274.964521 deg. 2025-10-27T04:13:32.854Z,1761538412.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799036 target range: 35.429150 and range: 35.60 m. 2025-10-27T04:13:32.893Z,1761538412.893 [DAT](INFO): DAT read: Rx Time:04:13:31.6577 2025-10-27T04:13:32.893Z,1761538412.893 [DAT](INFO): Rx dataTimestamp_ set to:1761538412.892880 2025-10-27T04:13:32.894Z,1761538412.894 [DAT](INFO): DAT read: Bearing 91.3, -7.2 (Local) 2025-10-27T04:13:32.895Z,1761538412.895 [DAT](INFO): Local bearing/azimuth received: Bearing 91.3, -7.2 (Local) 2025-10-27T04:13:32.897Z,1761538412.897 [DAT](INFO): DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.7 2025-10-27T04:13:32.902Z,1761538412.902 [DAT](INFO): DAT read: 04:13:31.6577 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501, 0.31,-0.239,-1.910, 0.069,-0.267, PHS= 0.130,-1.598, 0.292, RAW= 154.4, 12.9, CAL= 154.7, 14.4, ROT= 355.3, -14.4 2025-10-27T04:13:32.904Z,1761538412.904 [DAT](INFO): got valid direction response: 04:13:31.6577 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501, 0.31,-0.239,-1.910, 0.069,-0.267, PHS= 0.130,-1.598, 0.292, RAW= 154.4, 12.9, CAL= 154.7, 14.4, ROT= 355.3, -14.4 2025-10-27T04:13:32.904Z,1761538412.904 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T04:13:32.905Z,1761538412.905 [DAT](INFO): direction in FSK: [0.965326,-0.079364,0.248690] 2025-10-27T04:13:32.905Z,1761538412.905 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:32.909Z,1761538412.909 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.523012 2025-10-27T04:13:33.145Z,1761538413.145 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.758404 2025-10-27T04:13:33.221Z,1761538413.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097090,0.978157,0.183799],[-0.995275,0.095227,0.018955],[0.001038,-0.184771,0.982781]] 2025-10-27T04:13:33.244Z,1761538413.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.504016 s, deltaX: -0.599998 m, approachRate: -1.190435 m/s, rangeRepo size: 4 2025-10-27T04:13:33.246Z,1761538413.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.832031 m, bearing: 273.669674 deg, lat: 36.779378 deg, lon: -121.859570 deg, deltaT: 0.504016 s, deltaX: -0.597118 m, approachRate: -1.184721 m/s, posRepo size: 4 2025-10-27T04:13:33.247Z,1761538413.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.83 m. 2025-10-27T04:13:33.250Z,1761538413.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.832031 m, nav range: 33.657524 m, bearing: 274.262082 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 274.964510 deg, new cmd heading: 274.918259 deg. 2025-10-27T04:13:33.271Z,1761538413.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798229 target range: 34.832031 and range: 35.00 m. 2025-10-27T04:13:33.398Z,1761538413.398 [DAT](INFO): DAT read: Rx Time:04:13:32.1576 2025-10-27T04:13:33.398Z,1761538413.398 [DAT](INFO): Rx dataTimestamp_ set to:1761538413.397988 2025-10-27T04:13:33.401Z,1761538413.401 [DAT](INFO): DAT read: Bearing 92.4, -8.2 (Local) 2025-10-27T04:13:33.401Z,1761538413.401 [DAT](INFO): Local bearing/azimuth received: Bearing 92.4, -8.2 (Local) 2025-10-27T04:13:33.404Z,1761538413.404 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.7 2025-10-27T04:13:33.409Z,1761538413.409 [DAT](INFO): DAT read: 04:13:32.1576 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 500,-0.17,-1.143,-2.822,-0.815,-1.130, PHS= 0.089,-1.648, 0.271, RAW= 154.9, 13.9, CAL= 155.3, 15.8, ROT= 354.7, -15.8 2025-10-27T04:13:33.410Z,1761538413.410 [DAT](INFO): got valid direction response: 04:13:32.1576 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 500,-0.17,-1.143,-2.822,-0.815,-1.130, PHS= 0.089,-1.648, 0.271, RAW= 154.9, 13.9, CAL= 155.3, 15.8, ROT= 354.7, -15.8 2025-10-27T04:13:33.410Z,1761538413.410 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T04:13:33.411Z,1761538413.411 [DAT](INFO): direction in FSK: [0.958104,-0.088881,0.272280] 2025-10-27T04:13:33.412Z,1761538413.412 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:33.415Z,1761538413.415 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.029013 2025-10-27T04:13:33.648Z,1761538413.648 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.261404 2025-10-27T04:13:33.653Z,1761538413.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093033,0.978749,0.182742],[-0.995662,0.091240,0.018214],[0.001153,-0.183644,0.982992]] 2025-10-27T04:13:33.758Z,1761538413.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.505108 s, deltaX: -0.200001 m, approachRate: -0.395956 m/s, rangeRepo size: 4 2025-10-27T04:13:33.761Z,1761538413.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.632877 m, bearing: 273.103929 deg, lat: 36.779376 deg, lon: -121.859570 deg, deltaT: 0.505108 s, deltaX: -0.199154 m, approachRate: -0.394280 m/s, posRepo size: 4 2025-10-27T04:13:33.762Z,1761538413.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.63 m. 2025-10-27T04:13:33.769Z,1761538413.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.632877 m, nav range: 33.349258 m, bearing: 273.920456 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 274.918256 deg, new cmd heading: 274.859568 deg. 2025-10-27T04:13:33.770Z,1761538413.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797204 target range: 34.632877 and range: 34.80 m. 2025-10-27T04:13:33.901Z,1761538413.901 [DAT](INFO): DAT read: Rx Time:04:13:32.6572 2025-10-27T04:13:33.902Z,1761538413.902 [DAT](INFO): Rx dataTimestamp_ set to:1761538413.901433 2025-10-27T04:13:33.903Z,1761538413.903 [DAT](INFO): DAT read: Bearing 90.5, -7.4 (Local) 2025-10-27T04:13:33.903Z,1761538413.903 [DAT](INFO): Local bearing/azimuth received: Bearing 90.5, -7.4 (Local) 2025-10-27T04:13:33.905Z,1761538413.905 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.7 2025-10-27T04:13:33.914Z,1761538413.914 [DAT](INFO): DAT read: 04:13:32.6572 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.22,-1.085,-2.782,-0.770,-1.128, PHS= 0.144,-1.609, 0.314, RAW= 154.6, 12.4, CAL= 154.7, 13.9, ROT= 355.3, -13.9 2025-10-27T04:13:33.926Z,1761538413.926 [DAT](INFO): got valid direction response: 04:13:32.6572 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.22,-1.085,-2.782,-0.770,-1.128, PHS= 0.144,-1.609, 0.314, RAW= 154.6, 12.4, CAL= 154.7, 13.9, ROT= 355.3, -13.9 2025-10-27T04:13:33.927Z,1761538413.927 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T04:13:33.933Z,1761538413.933 [DAT](INFO): direction in FSK: [0.967452,-0.079539,0.240228] 2025-10-27T04:13:33.933Z,1761538413.933 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:33.946Z,1761538413.946 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.559232 2025-10-27T04:13:34.152Z,1761538414.152 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.765618 2025-10-27T04:13:34.152Z,1761538414.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090617,0.978973,0.182758],[-0.995884,0.088743,0.018426],[0.001820,-0.183676,0.982985]] 2025-10-27T04:13:34.189Z,1761538414.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.503445 s, deltaX: -0.599998 m, approachRate: -1.191786 m/s, rangeRepo size: 4 2025-10-27T04:13:34.191Z,1761538414.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.035763 m, bearing: 273.181765 deg, lat: 36.779375 deg, lon: -121.859570 deg, deltaT: 0.503445 s, deltaX: -0.597115 m, approachRate: -1.186057 m/s, posRepo size: 4 2025-10-27T04:13:34.192Z,1761538414.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.04 m. 2025-10-27T04:13:34.195Z,1761538414.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.035763 m, nav range: 33.046581 m, bearing: 273.640494 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 274.859571 deg, new cmd heading: 274.810420 deg. 2025-10-27T04:13:34.196Z,1761538414.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796347 target range: 34.035763 and range: 34.20 m. 2025-10-27T04:13:34.406Z,1761538414.406 [DAT](INFO): DAT read: Rx Time:04:13:33.1570 2025-10-27T04:13:34.406Z,1761538414.406 [DAT](INFO): Rx dataTimestamp_ set to:1761538414.405769 2025-10-27T04:13:34.407Z,1761538414.407 [DAT](INFO): DAT read: Bearing 90.8, -7.2 (Local) 2025-10-27T04:13:34.408Z,1761538414.408 [DAT](INFO): Local bearing/azimuth received: Bearing 90.8, -7.2 (Local) 2025-10-27T04:13:34.410Z,1761538414.410 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.6 2025-10-27T04:13:34.428Z,1761538414.428 [DAT](INFO): DAT read: 04:13:33.1570 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.18, 2.769, 1.089, 3.071, 2.731, PHS= 0.139,-1.597, 0.295, RAW= 154.3, 12.7, CAL= 154.5, 14.2, ROT= 355.5, -14.2 2025-10-27T04:13:34.430Z,1761538414.430 [DAT](INFO): got valid direction response: 04:13:33.1570 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.18, 2.769, 1.089, 3.071, 2.731, PHS= 0.139,-1.597, 0.295, RAW= 154.3, 12.7, CAL= 154.5, 14.2, ROT= 355.5, -14.2 2025-10-27T04:13:34.435Z,1761538414.435 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T04:13:34.437Z,1761538414.437 [DAT](INFO): direction in FSK: [0.966457,-0.076062,0.245307] 2025-10-27T04:13:34.438Z,1761538414.438 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:34.453Z,1761538414.453 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.066404 2025-10-27T04:13:34.554Z,1761538414.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088459,0.979547,0.180729],[-0.996078,0.086638,0.017961],[0.001936,-0.181609,0.983369]] 2025-10-27T04:13:34.656Z,1761538414.656 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.269700 2025-10-27T04:13:34.668Z,1761538414.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.504336 s, deltaX: -0.299999 m, approachRate: -0.594840 m/s, rangeRepo size: 4 2025-10-27T04:13:34.670Z,1761538414.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.737228 m, bearing: 273.281509 deg, lat: 36.779373 deg, lon: -121.859569 deg, deltaT: 0.504336 s, deltaX: -0.298534 m, approachRate: -0.591936 m/s, posRepo size: 4 2025-10-27T04:13:34.670Z,1761538414.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.74 m. 2025-10-27T04:13:34.685Z,1761538414.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.737228 m, nav range: 32.656044 m, bearing: 273.276467 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 274.810421 deg, new cmd heading: 274.756292 deg. 2025-10-27T04:13:34.686Z,1761538414.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795402 target range: 33.737228 and range: 33.90 m. 2025-10-27T04:13:34.911Z,1761538414.911 [DAT](INFO): DAT read: Rx Time:04:13:33.6566 2025-10-27T04:13:34.912Z,1761538414.912 [DAT](INFO): Rx dataTimestamp_ set to:1761538414.911594 2025-10-27T04:13:34.913Z,1761538414.913 [DAT](INFO): DAT read: Bearing 89.0, -6.5 (Local) 2025-10-27T04:13:34.913Z,1761538414.913 [DAT](INFO): Local bearing/azimuth received: Bearing 89.0, -6.5 (Local) 2025-10-27T04:13:34.916Z,1761538414.916 [DAT](INFO): DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.7 2025-10-27T04:13:34.924Z,1761538414.924 [DAT](INFO): DAT read: 04:13:33.6566 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.49, 1.919, 0.198, 2.216, 1.826, PHS= 0.195,-1.583, 0.347, RAW= 154.1, 11.2, CAL= 154.0, 12.4, ROT= 356.0, -12.4 2025-10-27T04:13:34.927Z,1761538414.927 [DAT](INFO): got valid direction response: 04:13:33.6566 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.49, 1.919, 0.198, 2.216, 1.826, PHS= 0.195,-1.583, 0.347, RAW= 154.1, 11.2, CAL= 154.0, 12.4, ROT= 356.0, -12.4 2025-10-27T04:13:34.972Z,1761538414.972 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T04:13:34.973Z,1761538414.973 [DAT](INFO): direction in FSK: [0.974293,-0.068129,0.214735] 2025-10-27T04:13:34.973Z,1761538414.973 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:34.981Z,1761538414.981 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.594453 2025-10-27T04:13:35.047Z,1761538415.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086647,0.979915,0.179609],[-0.996237,0.084829,0.017791],[0.002198,-0.180475,0.983577]] 2025-10-27T04:13:35.105Z,1761538415.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.505825 s, deltaX: -0.600002 m, approachRate: -1.186185 m/s, rangeRepo size: 4 2025-10-27T04:13:35.111Z,1761538415.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.140106 m, bearing: 273.308695 deg, lat: 36.779373 deg, lon: -121.859569 deg, deltaT: 0.505825 s, deltaX: -0.597122 m, approachRate: -1.180492 m/s, posRepo size: 4 2025-10-27T04:13:35.112Z,1761538415.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.14 m. 2025-10-27T04:13:35.114Z,1761538415.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.140106 m, nav range: 32.362183 m, bearing: 273.266399 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 274.756299 deg, new cmd heading: 274.705943 deg. 2025-10-27T04:13:35.119Z,1761538415.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794523 target range: 33.140106 and range: 33.30 m. 2025-10-27T04:13:35.160Z,1761538415.160 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.773847 2025-10-27T04:13:35.413Z,1761538415.413 [DAT](INFO): DAT read: Rx Time:04:13:34.1565 2025-10-27T04:13:35.413Z,1761538415.413 [DAT](INFO): Rx dataTimestamp_ set to:1761538415.413101 2025-10-27T04:13:35.415Z,1761538415.415 [DAT](INFO): DAT read: Bearing 91.5, -7.1 (Local) 2025-10-27T04:13:35.415Z,1761538415.415 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, -7.1 (Local) 2025-10-27T04:13:35.417Z,1761538415.417 [DAT](INFO): DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.6 2025-10-27T04:13:35.459Z,1761538415.459 [DAT](INFO): DAT read: 04:13:34.1565 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.31, 2.140, 0.445, 2.432, 2.114, PHS= 0.128,-1.624, 0.274, RAW= 154.0, 13.3, CAL= 154.2, 14.9, ROT= 355.8, -14.9 2025-10-27T04:13:35.460Z,1761538415.460 [DAT](INFO): got valid direction response: 04:13:34.1565 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.31, 2.140, 0.445, 2.432, 2.114, PHS= 0.128,-1.624, 0.274, RAW= 154.0, 13.3, CAL= 154.2, 14.9, ROT= 355.8, -14.9 2025-10-27T04:13:35.461Z,1761538415.461 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T04:13:35.462Z,1761538415.462 [DAT](INFO): direction in FSK: [0.963781,-0.070776,0.257133] 2025-10-27T04:13:35.462Z,1761538415.462 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:35.474Z,1761538415.474 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.087266 2025-10-27T04:13:35.482Z,1761538415.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085467,0.980637,0.176202],[-0.996339,0.083760,0.017113],[0.002023,-0.177019,0.984205]] 2025-10-27T04:13:35.587Z,1761538415.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.501507 s, deltaX: -0.099998 m, approachRate: -0.199396 m/s, rangeRepo size: 4 2025-10-27T04:13:35.589Z,1761538415.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.040588 m, bearing: 273.467239 deg, lat: 36.779373 deg, lon: -121.859569 deg, deltaT: 0.501507 s, deltaX: -0.099518 m, approachRate: -0.198438 m/s, posRepo size: 4 2025-10-27T04:13:35.590Z,1761538415.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.04 m. 2025-10-27T04:13:35.601Z,1761538415.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.040588 m, nav range: 32.084854 m, bearing: 273.263206 deg, approach rate: 0.000000 m/s, LOS rate: -0.038040 deg/s, cmd heading: 274.705946 deg, new cmd heading: 274.651340 deg. 2025-10-27T04:13:35.602Z,1761538415.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793570 target range: 33.040588 and range: 33.20 m. 2025-10-27T04:13:35.665Z,1761538415.665 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.278103 2025-10-27T04:13:35.898Z,1761538415.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084699,0.981301,0.172845],[-0.996405,0.083097,0.016498],[0.001826,-0.173621,0.984811]] 2025-10-27T04:13:35.915Z,1761538415.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:35.917Z,1761538415.917 [DAT](INFO): DAT read: Rx Time:04:13:34.6562 2025-10-27T04:13:35.918Z,1761538415.918 [DAT](INFO): Rx dataTimestamp_ set to:1761538415.917377 2025-10-27T04:13:35.921Z,1761538415.921 [DAT](INFO): DAT read: Bearing 90.5, -7.3 (Local) 2025-10-27T04:13:35.921Z,1761538415.921 [DAT](INFO): Local bearing/azimuth received: Bearing 90.5, -7.3 (Local) 2025-10-27T04:13:35.927Z,1761538415.927 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.5 2025-10-27T04:13:35.934Z,1761538415.934 [DAT](INFO): DAT read: 04:13:34.6562 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.47,-1.687, 2.901,-1.377,-1.732, PHS= 0.146,-1.605, 0.311, RAW= 154.4, 12.4, CAL= 154.6, 13.9, ROT= 355.4, -13.9 2025-10-27T04:13:35.938Z,1761538415.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.04 m. 2025-10-27T04:13:35.961Z,1761538415.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.040588 m, nav range: 31.898066 m, bearing: 273.259256 deg, approach rate: -0.525764 m/s, LOS rate: -0.011182 deg/s, cmd heading: 274.651332 deg, new cmd heading: 274.639414 deg. 2025-10-27T04:13:35.962Z,1761538415.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793362 target range: 33.040588 and range: 33.20 m. 2025-10-27T04:13:35.963Z,1761538415.963 [DAT](INFO): got valid direction response: 04:13:34.6562 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.47,-1.687, 2.901,-1.377,-1.732, PHS= 0.146,-1.605, 0.311, RAW= 154.4, 12.4, CAL= 154.6, 13.9, ROT= 355.4, -13.9 2025-10-27T04:13:35.963Z,1761538415.963 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T04:13:35.964Z,1761538415.964 [DAT](INFO): direction in FSK: [0.967590,-0.077851,0.240228] 2025-10-27T04:13:35.965Z,1761538415.965 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:35.976Z,1761538415.976 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.589958 2025-10-27T04:13:36.168Z,1761538416.168 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.781637 2025-10-27T04:13:36.372Z,1761538416.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085104,0.982257,0.167118],[-0.996372,0.083795,0.014882],[0.000614,-0.167778,0.985825]] 2025-10-27T04:13:36.422Z,1761538416.422 [DAT](INFO): DAT read: Rx Time:04:13:35.1562 2025-10-27T04:13:36.423Z,1761538416.423 [DAT](INFO): Rx dataTimestamp_ set to:1761538416.422582 2025-10-27T04:13:36.426Z,1761538416.426 [DAT](INFO): DAT read: Bearing 91.7, -7.2 (Local) 2025-10-27T04:13:36.426Z,1761538416.426 [DAT](INFO): Local bearing/azimuth received: Bearing 91.7, -7.2 (Local) 2025-10-27T04:13:36.430Z,1761538416.430 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4 2025-10-27T04:13:36.437Z,1761538416.437 [DAT](INFO): DAT read: 04:13:35.1562 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.18,-1.474, 3.122,-1.179,-1.493, PHS= 0.121,-1.623, 0.270, RAW= 154.0, 13.4, CAL= 154.3, 15.1, ROT= 355.7, -15.1 2025-10-27T04:13:36.439Z,1761538416.439 [DAT](INFO): got valid direction response: 04:13:35.1562 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.18,-1.474, 3.122,-1.179,-1.493, PHS= 0.121,-1.623, 0.270, RAW= 154.0, 13.4, CAL= 154.3, 15.1, ROT= 355.7, -15.1 2025-10-27T04:13:36.440Z,1761538416.440 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T04:13:36.441Z,1761538416.441 [DAT](INFO): direction in FSK: [0.962755,-0.072390,0.260505] 2025-10-27T04:13:36.441Z,1761538416.441 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:36.458Z,1761538416.458 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.071412 2025-10-27T04:13:36.471Z,1761538416.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 1.009481 s, deltaX: -0.500000 m, approachRate: -0.495304 m/s, rangeRepo size: 4 2025-10-27T04:13:36.473Z,1761538416.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.543121 m, bearing: 273.236266 deg, lat: 36.779373 deg, lon: -121.859568 deg, deltaT: 1.009481 s, deltaX: -0.497467 m, approachRate: -0.492795 m/s, posRepo size: 4 2025-10-27T04:13:36.474Z,1761538416.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.54 m. 2025-10-27T04:13:36.477Z,1761538416.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.543121 m, nav range: 31.605494 m, bearing: 273.266543 deg, approach rate: 0.000000 m/s, LOS rate: -0.011182 deg/s, cmd heading: 274.639420 deg, new cmd heading: 274.621688 deg. 2025-10-27T04:13:36.478Z,1761538416.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793053 target range: 32.543121 and range: 32.70 m. 2025-10-27T04:13:36.672Z,1761538416.672 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.285674 2025-10-27T04:13:36.848Z,1761538416.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085805,0.982641,0.164484],[-0.996312,0.084643,0.014075],[-0.000092,-0.165085,0.986279]] 2025-10-27T04:13:36.882Z,1761538416.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.54 m. 2025-10-27T04:13:36.889Z,1761538416.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.543121 m, nav range: 31.388266 m, bearing: 273.268065 deg, approach rate: -0.522362 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.621689 deg, new cmd heading: 274.626289 deg. 2025-10-27T04:13:36.890Z,1761538416.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793133 target range: 32.543121 and range: 32.70 m. 2025-10-27T04:13:36.926Z,1761538416.926 [DAT](INFO): DAT read: Rx Time:04:13:35.6559 2025-10-27T04:13:36.928Z,1761538416.928 [DAT](INFO): Rx dataTimestamp_ set to:1761538416.926522 2025-10-27T04:13:36.930Z,1761538416.930 [DAT](INFO): DAT read: Bearing 87.5, -6.3 (Local) 2025-10-27T04:13:36.931Z,1761538416.931 [DAT](INFO): Local bearing/azimuth received: Bearing 87.5, -6.3 (Local) 2025-10-27T04:13:36.934Z,1761538416.934 [DAT](INFO): DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.4 2025-10-27T04:13:36.942Z,1761538416.942 [DAT](INFO): DAT read: 04:13:35.6559 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.32,-2.319, 2.232,-2.010,-2.449, PHS= 0.232,-1.557, 0.395, RAW= 154.3, 9.9, CAL= 154.1, 10.8, ROT= 355.9, -10.8 2025-10-27T04:13:36.944Z,1761538416.944 [DAT](INFO): got valid direction response: 04:13:35.6559 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.32,-2.319, 2.232,-2.010,-2.449, PHS= 0.232,-1.557, 0.395, RAW= 154.3, 9.9, CAL= 154.1, 10.8, ROT= 355.9, -10.8 2025-10-27T04:13:36.945Z,1761538416.945 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T04:13:36.947Z,1761538416.947 [DAT](INFO): direction in FSK: [0.979773,-0.070231,0.187381] 2025-10-27T04:13:36.952Z,1761538416.952 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:36.956Z,1761538416.956 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.569590 2025-10-27T04:13:37.176Z,1761538417.176 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.789823 2025-10-27T04:13:37.390Z,1761538417.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.503940 s, deltaX: -0.400002 m, approachRate: -0.793748 m/s, rangeRepo size: 4 2025-10-27T04:13:37.411Z,1761538417.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.145195 m, bearing: 272.681799 deg, lat: 36.779373 deg, lon: -121.859568 deg, deltaT: 0.503940 s, deltaX: -0.397926 m, approachRate: -0.789630 m/s, posRepo size: 4 2025-10-27T04:13:37.412Z,1761538417.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.15 m. 2025-10-27T04:13:37.414Z,1761538417.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.145195 m, nav range: 31.175230 m, bearing: 273.269579 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.626279 deg, new cmd heading: 274.631730 deg. 2025-10-27T04:13:37.420Z,1761538417.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793228 target range: 32.145195 and range: 32.30 m. 2025-10-27T04:13:37.430Z,1761538417.430 [DAT](INFO): DAT read: Rx Time:04:13:36.1558 2025-10-27T04:13:37.431Z,1761538417.431 [DAT](INFO): Rx dataTimestamp_ set to:1761538417.430318 2025-10-27T04:13:37.433Z,1761538417.433 [DAT](INFO): DAT read: Bearing 92.5, -7.3 (Local) 2025-10-27T04:13:37.433Z,1761538417.433 [DAT](INFO): Local bearing/azimuth received: Bearing 92.5, -7.3 (Local) 2025-10-27T04:13:37.437Z,1761538417.437 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 2025-10-27T04:13:37.456Z,1761538417.456 [DAT](INFO): DAT read: 04:13:36.1558 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.02,-2.812, 1.794,-2.520,-2.812, PHS= 0.102,-1.632, 0.248, RAW= 154.0, 14.1, CAL= 154.4, 15.8, ROT= 355.6, -15.8 2025-10-27T04:13:37.457Z,1761538417.457 [DAT](INFO): got valid direction response: 04:13:36.1558 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.02,-2.812, 1.794,-2.520,-2.812, PHS= 0.102,-1.632, 0.248, RAW= 154.0, 14.1, CAL= 154.4, 15.8, ROT= 355.6, -15.8 2025-10-27T04:13:37.458Z,1761538417.458 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T04:13:37.459Z,1761538417.459 [DAT](INFO): direction in FSK: [0.959382,-0.073820,0.272280] 2025-10-27T04:13:37.463Z,1761538417.463 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:37.479Z,1761538417.479 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.080281 2025-10-27T04:13:37.682Z,1761538417.682 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.295389 2025-10-27T04:13:37.833Z,1761538417.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088423,0.982229,0.165550],[-0.996080,0.087630,0.012101],[-0.002621,-0.165971,0.986127]] 2025-10-27T04:13:37.880Z,1761538417.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503796 s, deltaX: -0.200001 m, approachRate: -0.396988 m/s, rangeRepo size: 4 2025-10-27T04:13:37.882Z,1761538417.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.946327 m, bearing: 273.425961 deg, lat: 36.779373 deg, lon: -121.859566 deg, deltaT: 0.503796 s, deltaX: -0.198868 m, approachRate: -0.394739 m/s, posRepo size: 4 2025-10-27T04:13:37.883Z,1761538417.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.95 m. 2025-10-27T04:13:37.886Z,1761538417.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.946327 m, nav range: 30.733465 m, bearing: 273.337084 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.631743 deg, new cmd heading: 274.637323 deg. 2025-10-27T04:13:37.887Z,1761538417.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793325 target range: 31.946327 and range: 32.10 m. 2025-10-27T04:13:37.934Z,1761538417.934 [DAT](INFO): DAT read: Rx Time:04:13:36.6556 2025-10-27T04:13:37.935Z,1761538417.935 [DAT](INFO): Rx dataTimestamp_ set to:1761538417.934506 2025-10-27T04:13:37.937Z,1761538417.937 [DAT](INFO): DAT read: Bearing 91.5, -6.7 (Local) 2025-10-27T04:13:37.937Z,1761538417.937 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, -6.7 (Local) 2025-10-27T04:13:37.942Z,1761538417.942 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.3 2025-10-27T04:13:37.950Z,1761538417.950 [DAT](INFO): DAT read: 04:13:36.6556 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.05, 0.380,-1.328, 0.661, 0.345, PHS= 0.137,-1.628, 0.272, RAW= 153.7, 13.2, CAL= 153.9, 14.8, ROT= 356.1, -14.8 2025-10-27T04:13:37.952Z,1761538417.952 [DAT](INFO): got valid direction response: 04:13:36.6556 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.05, 0.380,-1.328, 0.661, 0.345, PHS= 0.137,-1.628, 0.272, RAW= 153.7, 13.2, CAL= 153.9, 14.8, ROT= 356.1, -14.8 2025-10-27T04:13:37.953Z,1761538417.953 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T04:13:37.954Z,1761538417.954 [DAT](INFO): direction in FSK: [0.964584,-0.065759,0.255446] 2025-10-27T04:13:37.954Z,1761538417.954 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:37.966Z,1761538417.966 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.579952 2025-10-27T04:13:38.182Z,1761538418.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089535,0.982148,0.165435],[-0.995977,0.088896,0.011280],[-0.003627,-0.165780,0.986156]] 2025-10-27T04:13:38.184Z,1761538418.184 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.797632 2025-10-27T04:13:38.221Z,1761538418.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.504188 s, deltaX: -0.299999 m, approachRate: -0.595015 m/s, rangeRepo size: 4 2025-10-27T04:13:38.224Z,1761538418.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.647764 m, bearing: 273.801912 deg, lat: 36.779374 deg, lon: -121.859565 deg, deltaT: 0.504188 s, deltaX: -0.298563 m, approachRate: -0.592166 m/s, posRepo size: 4 2025-10-27T04:13:38.224Z,1761538418.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.65 m. 2025-10-27T04:13:38.227Z,1761538418.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.647764 m, nav range: 30.552696 m, bearing: 273.430953 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.637317 deg, new cmd heading: 274.641091 deg. 2025-10-27T04:13:38.228Z,1761538418.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793391 target range: 31.647764 and range: 31.80 m. 2025-10-27T04:13:38.440Z,1761538418.440 [DAT](INFO): DAT read: Rx Time:04:13:37.1556 2025-10-27T04:13:38.441Z,1761538418.441 [DAT](INFO): Rx dataTimestamp_ set to:1761538418.440586 2025-10-27T04:13:38.444Z,1761538418.444 [DAT](INFO): DAT read: Bearing 86.9, 2.0 (Local) 2025-10-27T04:13:38.444Z,1761538418.444 [DAT](INFO): Local bearing/azimuth received: Bearing 86.9, 2.0 (Local) 2025-10-27T04:13:38.448Z,1761538418.448 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.2 2025-10-27T04:13:38.463Z,1761538418.463 [DAT](INFO): DAT read: 04:13:37.1556 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 512,-0.06, 1.626,-0.471, 1.618, 1.239, PHS= 0.488,-1.665, 0.335, RAW= 146.3, 8.1, CAL= 145.9, 8.8, ROT= 4.1, -8.8 2025-10-27T04:13:38.464Z,1761538418.464 [DAT](INFO): got valid direction response: 04:13:37.1556 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 512,-0.06, 1.626,-0.471, 1.618, 1.239, PHS= 0.488,-1.665, 0.335, RAW= 146.3, 8.1, CAL= 145.9, 8.8, ROT= 4.1, -8.8 2025-10-27T04:13:38.465Z,1761538418.465 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T04:13:38.465Z,1761538418.465 [DAT](INFO): direction in FSK: [0.985699,0.070656,0.152986] 2025-10-27T04:13:38.466Z,1761538418.466 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:38.474Z,1761538418.474 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.087198 2025-10-27T04:13:38.586Z,1761538418.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091584,0.981816,0.166282],[-0.995785,0.091128,0.010388],[-0.004954,-0.166533,0.986023]] 2025-10-27T04:13:38.659Z,1761538418.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.506080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:13:38.661Z,1761538418.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.647358 m, bearing: 280.764565 deg, lat: 36.779374 deg, lon: -121.859565 deg, deltaT: 0.506080 s, deltaX: -0.000406 m, approachRate: -0.000803 m/s, posRepo size: 4 2025-10-27T04:13:38.662Z,1761538418.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.65 m. 2025-10-27T04:13:38.669Z,1761538418.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.647358 m, nav range: 30.393164 m, bearing: 273.439631 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.641087 deg, new cmd heading: 274.645882 deg. 2025-10-27T04:13:38.669Z,1761538418.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793475 target range: 31.647358 and range: 31.80 m. 2025-10-27T04:13:38.693Z,1761538418.693 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.306985 2025-10-27T04:13:38.946Z,1761538418.946 [DAT](INFO): DAT read: Rx Time:04:13:37.6554 2025-10-27T04:13:38.948Z,1761538418.948 [DAT](INFO): Rx dataTimestamp_ set to:1761538418.946208 2025-10-27T04:13:38.949Z,1761538418.949 [DAT](INFO): DAT read: Bearing 90.2, -6.8 (Local) 2025-10-27T04:13:38.950Z,1761538418.950 [DAT](INFO): Local bearing/azimuth received: Bearing 90.2, -6.8 (Local) 2025-10-27T04:13:38.952Z,1761538418.952 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.2 2025-10-27T04:13:38.962Z,1761538418.962 [DAT](INFO): DAT read: 04:13:37.6554 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 510, 0.04, 1.658,-0.088, 1.957, 1.594, PHS= 0.166,-1.638, 0.319, RAW= 154.1, 12.2, CAL= 154.2, 13.6, ROT= 355.8, -13.6 2025-10-27T04:13:38.963Z,1761538418.963 [DAT](INFO): got valid direction response: 04:13:37.6554 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 510, 0.04, 1.658,-0.088, 1.957, 1.594, PHS= 0.166,-1.638, 0.319, RAW= 154.1, 12.2, CAL= 154.2, 13.6, ROT= 355.8, -13.6 2025-10-27T04:13:38.964Z,1761538418.964 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T04:13:38.965Z,1761538418.965 [DAT](INFO): direction in FSK: [0.969351,-0.071185,0.235142] 2025-10-27T04:13:38.965Z,1761538418.965 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:38.971Z,1761538418.971 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.584399 2025-10-27T04:13:39.006Z,1761538419.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093860,0.981287,0.168125],[-0.995567,0.093544,0.009815],[-0.006096,-0.168301,0.985717]] 2025-10-27T04:13:39.059Z,1761538419.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.505622 s, deltaX: -0.299999 m, approachRate: -0.593327 m/s, rangeRepo size: 4 2025-10-27T04:13:39.061Z,1761538419.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.348799 m, bearing: 273.580823 deg, lat: 36.779374 deg, lon: -121.859568 deg, deltaT: 0.505622 s, deltaX: -0.298559 m, approachRate: -0.590479 m/s, posRepo size: 4 2025-10-27T04:13:39.062Z,1761538419.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.35 m. 2025-10-27T04:13:39.064Z,1761538419.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.348799 m, nav range: 30.449104 m, bearing: 273.580926 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.645895 deg, new cmd heading: 274.650360 deg. 2025-10-27T04:13:39.065Z,1761538419.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793553 target range: 31.348799 and range: 31.50 m. 2025-10-27T04:13:39.196Z,1761538419.196 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.809826 2025-10-27T04:13:39.441Z,1761538419.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095638,0.980994,0.168830],[-0.995390,0.095487,0.009032],[-0.007261,-0.168916,0.985604]] 2025-10-27T04:13:39.449Z,1761538419.449 [DAT](INFO): DAT read: Rx Time:04:13:38.1554 2025-10-27T04:13:39.449Z,1761538419.449 [DAT](INFO): Rx dataTimestamp_ set to:1761538419.449080 2025-10-27T04:13:39.451Z,1761538419.451 [DAT](INFO): DAT read: Bearing 90.6, -6.2 (Local) 2025-10-27T04:13:39.451Z,1761538419.451 [DAT](INFO): Local bearing/azimuth received: Bearing 90.6, -6.2 (Local) 2025-10-27T04:13:39.453Z,1761538419.453 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.2 2025-10-27T04:13:39.458Z,1761538419.458 [DAT](INFO): DAT read: 04:13:38.1554 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.19,-2.775, 1.802,-2.505,-2.840, PHS= 0.167,-1.596, 0.291, RAW= 153.4, 12.4, CAL= 153.5, 13.8, ROT= 356.5, -13.8 2025-10-27T04:13:39.459Z,1761538419.459 [DAT](INFO): got valid direction response: 04:13:38.1554 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.19,-2.775, 1.802,-2.505,-2.840, PHS= 0.167,-1.596, 0.291, RAW= 153.4, 12.4, CAL= 153.5, 13.8, ROT= 356.5, -13.8 2025-10-27T04:13:39.459Z,1761538419.459 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T04:13:39.460Z,1761538419.460 [DAT](INFO): direction in FSK: [0.969323,-0.059286,0.238533] 2025-10-27T04:13:39.461Z,1761538419.461 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:39.492Z,1761538419.492 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.106039 2025-10-27T04:13:39.594Z,1761538419.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.502872 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:13:39.600Z,1761538419.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.348799 m, bearing: 274.417943 deg, lat: 36.779375 deg, lon: -121.859568 deg, deltaT: 0.502872 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:13:39.601Z,1761538419.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.35 m. 2025-10-27T04:13:39.604Z,1761538419.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.348799 m, nav range: 30.258183 m, bearing: 273.810412 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.650349 deg, new cmd heading: 274.656274 deg. 2025-10-27T04:13:39.605Z,1761538419.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793656 target range: 31.348799 and range: 31.50 m. 2025-10-27T04:13:39.702Z,1761538419.702 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.315136 2025-10-27T04:13:39.937Z,1761538419.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097496,0.980715,0.169387],[-0.995200,0.097519,0.008205],[-0.008472,-0.169374,0.985516]] 2025-10-27T04:13:39.953Z,1761538419.953 [DAT](INFO): DAT read: Rx Time:04:13:38.6552 2025-10-27T04:13:39.953Z,1761538419.953 [DAT](INFO): Rx dataTimestamp_ set to:1761538419.952841 2025-10-27T04:13:39.954Z,1761538419.954 [DAT](INFO): DAT read: Bearing 91.3, -6.3 (Local) 2025-10-27T04:13:39.955Z,1761538419.955 [DAT](INFO): Local bearing/azimuth received: Bearing 91.3, -6.3 (Local) 2025-10-27T04:13:39.958Z,1761538419.958 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.2 2025-10-27T04:13:39.966Z,1761538419.966 [DAT](INFO): DAT read: 04:13:38.6552 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.37, 2.304, 0.603, 2.574, 2.258, PHS= 0.148,-1.610, 0.272, RAW= 153.4, 13.0, CAL= 153.5, 14.5, ROT= 356.5, -14.5 2025-10-27T04:13:39.976Z,1761538419.976 [DAT](INFO): got valid direction response: 04:13:38.6552 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.37, 2.304, 0.603, 2.574, 2.258, PHS= 0.148,-1.610, 0.272, RAW= 153.4, 13.0, CAL= 153.5, 14.5, ROT= 356.5, -14.5 2025-10-27T04:13:39.976Z,1761538419.976 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T04:13:39.977Z,1761538419.977 [DAT](INFO): direction in FSK: [0.966342,-0.059104,0.250380] 2025-10-27T04:13:39.977Z,1761538419.977 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:40.005Z,1761538420.005 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.618607 2025-10-27T04:13:40.017Z,1761538420.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503761 s, deltaX: -0.299999 m, approachRate: -0.595519 m/s, rangeRepo size: 4 2025-10-27T04:13:40.040Z,1761538420.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.050251 m, bearing: 274.658122 deg, lat: 36.779378 deg, lon: -121.859568 deg, deltaT: 0.503761 s, deltaX: -0.298548 m, approachRate: -0.592638 m/s, posRepo size: 4 2025-10-27T04:13:40.040Z,1761538420.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.05 m. 2025-10-27T04:13:40.047Z,1761538420.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.050251 m, nav range: 30.124428 m, bearing: 274.455879 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.656277 deg, new cmd heading: 274.660960 deg. 2025-10-27T04:13:40.048Z,1761538420.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793738 target range: 31.050251 and range: 31.20 m. 2025-10-27T04:13:40.204Z,1761538420.204 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.817673 2025-10-27T04:13:40.381Z,1761538420.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100360,0.980003,0.171818],[-0.994902,0.100557,0.007581],[-0.009848,-0.171703,0.985099]] 2025-10-27T04:13:40.457Z,1761538420.457 [DAT](INFO): DAT read: Rx Time:04:13:39.1553 2025-10-27T04:13:40.457Z,1761538420.457 [DAT](INFO): Rx dataTimestamp_ set to:1761538420.456757 2025-10-27T04:13:40.458Z,1761538420.458 [DAT](INFO): DAT read: Bearing 91.4, -6.6 (Local) 2025-10-27T04:13:40.459Z,1761538420.459 [DAT](INFO): Local bearing/azimuth received: Bearing 91.4, -6.6 (Local) 2025-10-27T04:13:40.461Z,1761538420.461 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.3 2025-10-27T04:13:40.465Z,1761538420.465 [DAT](INFO): DAT read: 04:13:39.1553 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.37, 1.122,-0.565, 1.397, 1.082, PHS= 0.141,-1.602, 0.271, RAW= 153.6, 13.1, CAL= 153.8, 14.6, ROT= 356.2, -14.6 2025-10-27T04:13:40.467Z,1761538420.467 [DAT](INFO): got valid direction response: 04:13:39.1553 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.37, 1.122,-0.565, 1.397, 1.082, PHS= 0.141,-1.602, 0.271, RAW= 153.6, 13.1, CAL= 153.8, 14.6, ROT= 356.2, -14.6 2025-10-27T04:13:40.467Z,1761538420.467 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T04:13:40.468Z,1761538420.468 [DAT](INFO): direction in FSK: [0.965582,-0.064134,0.252069] 2025-10-27T04:13:40.468Z,1761538420.468 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:40.476Z,1761538420.476 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.089561 2025-10-27T04:13:40.498Z,1761538420.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503916 s, deltaX: 0.199999 m, approachRate: 0.396889 m/s, rangeRepo size: 4 2025-10-27T04:13:40.504Z,1761538420.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.249290 m, bearing: 274.582726 deg, lat: 36.779379 deg, lon: -121.859569 deg, deltaT: 0.503916 s, deltaX: 0.199039 m, approachRate: 0.394985 m/s, posRepo size: 4 2025-10-27T04:13:40.505Z,1761538420.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 31.40 m. 2025-10-27T04:13:40.505Z,1761538420.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.25 m. 2025-10-27T04:13:40.524Z,1761538420.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.249290 m, nav range: 30.115620 m, bearing: 274.604612 deg, approach rate: 0.000000 m/s, LOS rate: 0.003687 deg/s, cmd heading: 274.660949 deg, new cmd heading: 274.666264 deg. 2025-10-27T04:13:40.525Z,1761538420.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793831 target range: 31.249290 and range: 31.40 m. 2025-10-27T04:13:40.709Z,1761538420.709 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.322462 2025-10-27T04:13:40.845Z,1761538420.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100867,0.980185,0.170480],[-0.994848,0.101113,0.007258],[-0.010124,-0.170334,0.985334]] 2025-10-27T04:13:40.880Z,1761538420.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:40.882Z,1761538420.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 31.40 m. 2025-10-27T04:13:40.882Z,1761538420.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.25 m. 2025-10-27T04:13:40.901Z,1761538420.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.249290 m, nav range: 29.934948 m, bearing: 274.617772 deg, approach rate: -0.469988 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.666277 deg, new cmd heading: 274.705994 deg. 2025-10-27T04:13:40.902Z,1761538420.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794524 target range: 31.249290 and range: 31.40 m. 2025-10-27T04:13:40.961Z,1761538420.961 [DAT](INFO): DAT read: Rx Time:04:13:39.6551 2025-10-27T04:13:40.961Z,1761538420.961 [DAT](INFO): Rx dataTimestamp_ set to:1761538420.960850 2025-10-27T04:13:40.962Z,1761538420.962 [DAT](INFO): DAT read: Bearing 90.6, -6.7 (Local) 2025-10-27T04:13:40.963Z,1761538420.963 [DAT](INFO): Local bearing/azimuth received: Bearing 90.6, -6.7 (Local) 2025-10-27T04:13:40.965Z,1761538420.965 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.3 2025-10-27T04:13:40.971Z,1761538420.971 [DAT](INFO): DAT read: 04:13:39.6551 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.32, 0.907,-0.808, 1.198, 0.853, PHS= 0.156,-1.615, 0.301, RAW= 153.9, 12.5, CAL= 154.0, 13.9, ROT= 356.0, -13.9 2025-10-27T04:13:40.973Z,1761538420.973 [DAT](INFO): got valid direction response: 04:13:39.6551 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.32, 0.907,-0.808, 1.198, 0.853, PHS= 0.156,-1.615, 0.301, RAW= 153.9, 12.5, CAL= 154.0, 13.9, ROT= 356.0, -13.9 2025-10-27T04:13:40.974Z,1761538420.974 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T04:13:40.992Z,1761538420.992 [DAT](INFO): direction in FSK: [0.968352,-0.067714,0.240228] 2025-10-27T04:13:40.993Z,1761538420.993 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:41.019Z,1761538421.019 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.628365 2025-10-27T04:13:41.212Z,1761538421.212 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.825488 2025-10-27T04:13:41.249Z,1761538421.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100787,0.980252,0.170140],[-0.994856,0.101046,0.007159],[-0.010175,-0.169987,0.985394]] 2025-10-27T04:13:41.305Z,1761538421.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504093 s, deltaX: -0.199999 m, approachRate: -0.396750 m/s, rangeRepo size: 4 2025-10-27T04:13:41.321Z,1761538421.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.049751 m, bearing: 274.257159 deg, lat: 36.779378 deg, lon: -121.859569 deg, deltaT: 0.504093 s, deltaX: -0.199539 m, approachRate: -0.395838 m/s, posRepo size: 4 2025-10-27T04:13:41.327Z,1761538421.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 31.20 m. 2025-10-27T04:13:41.328Z,1761538421.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.05 m. 2025-10-27T04:13:41.335Z,1761538421.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.049751 m, nav range: 29.764229 m, bearing: 274.469588 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.706001 deg, new cmd heading: 274.747643 deg. 2025-10-27T04:13:41.336Z,1761538421.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795251 target range: 31.049751 and range: 31.20 m. 2025-10-27T04:13:41.470Z,1761538421.470 [DAT](INFO): DAT read: Rx Time:04:13:40.1549 2025-10-27T04:13:41.470Z,1761538421.470 [DAT](INFO): Rx dataTimestamp_ set to:1761538421.469878 2025-10-27T04:13:41.472Z,1761538421.472 [DAT](INFO): DAT read: Bearing 90.9, -6.4 (Local) 2025-10-27T04:13:41.472Z,1761538421.472 [DAT](INFO): Local bearing/azimuth received: Bearing 90.9, -6.4 (Local) 2025-10-27T04:13:41.474Z,1761538421.474 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.3 2025-10-27T04:13:41.488Z,1761538421.488 [DAT](INFO): DAT read: 04:13:40.1549 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.49, 1.878, 0.176, 2.153, 1.824, PHS= 0.156,-1.603, 0.285, RAW= 153.5, 12.7, CAL= 153.7, 14.1, ROT= 356.3, -14.1 2025-10-27T04:13:41.489Z,1761538421.489 [DAT](INFO): got valid direction response: 04:13:40.1549 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.49, 1.878, 0.176, 2.153, 1.824, PHS= 0.156,-1.603, 0.285, RAW= 153.5, 12.7, CAL= 153.7, 14.1, ROT= 356.3, -14.1 2025-10-27T04:13:41.489Z,1761538421.489 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T04:13:41.490Z,1761538421.490 [DAT](INFO): direction in FSK: [0.967850,-0.062588,0.243615] 2025-10-27T04:13:41.495Z,1761538421.495 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:41.503Z,1761538421.503 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.112306 2025-10-27T04:13:41.662Z,1761538421.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100128,0.980375,0.169819],[-0.994925,0.100348,0.007306],[-0.009878,-0.169689,0.985448]] 2025-10-27T04:13:41.717Z,1761538421.717 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.330195 2025-10-27T04:13:41.792Z,1761538421.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.509028 s, deltaX: -0.300001 m, approachRate: -0.589361 m/s, rangeRepo size: 4 2025-10-27T04:13:41.815Z,1761538421.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.751156 m, bearing: 274.545903 deg, lat: 36.779379 deg, lon: -121.859571 deg, deltaT: 0.509028 s, deltaX: -0.298595 m, approachRate: -0.586599 m/s, posRepo size: 4 2025-10-27T04:13:41.818Z,1761538421.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 30.90 m. 2025-10-27T04:13:41.825Z,1761538421.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.75 m. 2025-10-27T04:13:41.833Z,1761538421.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.751156 m, nav range: 29.673531 m, bearing: 274.572139 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.747638 deg, new cmd heading: 274.798723 deg. 2025-10-27T04:13:41.834Z,1761538421.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796143 target range: 30.751156 and range: 30.90 m. 2025-10-27T04:13:41.969Z,1761538421.969 [DAT](INFO): DAT read: Rx Time:04:13:40.6547 2025-10-27T04:13:41.969Z,1761538421.969 [DAT](INFO): Rx dataTimestamp_ set to:1761538421.968862 2025-10-27T04:13:41.970Z,1761538421.970 [DAT](INFO): DAT read: Bearing 91.7, -6.7 (Local) 2025-10-27T04:13:41.971Z,1761538421.971 [DAT](INFO): Local bearing/azimuth received: Bearing 91.7, -6.7 (Local) 2025-10-27T04:13:41.973Z,1761538421.973 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 2025-10-27T04:13:41.978Z,1761538421.978 [DAT](INFO): DAT read: 04:13:40.6547 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503, 0.13,-2.944, 1.631,-2.664,-2.974, PHS= 0.132,-1.633, 0.266, RAW= 153.6, 13.4, CAL= 153.9, 15.0, ROT= 356.1, -15.0 2025-10-27T04:13:41.984Z,1761538421.984 [DAT](INFO): got valid direction response: 04:13:40.6547 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503, 0.13,-2.944, 1.631,-2.664,-2.974, PHS= 0.132,-1.633, 0.266, RAW= 153.6, 13.4, CAL= 153.9, 15.0, ROT= 356.1, -15.0 2025-10-27T04:13:41.986Z,1761538421.986 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T04:13:41.993Z,1761538421.993 [DAT](INFO): direction in FSK: [0.963689,-0.065698,0.258819] 2025-10-27T04:13:41.993Z,1761538421.993 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:41.998Z,1761538421.998 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.611330 2025-10-27T04:13:42.220Z,1761538422.220 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.833600 2025-10-27T04:13:42.336Z,1761538422.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099523,0.980457,0.169703],[-0.994988,0.099717,0.007397],[-0.009670,-0.169589,0.985467]] 2025-10-27T04:13:42.360Z,1761538422.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.498984 s, deltaX: -0.299999 m, approachRate: -0.601220 m/s, rangeRepo size: 4 2025-10-27T04:13:42.366Z,1761538422.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.452600 m, bearing: 274.475687 deg, lat: 36.779379 deg, lon: -121.859572 deg, deltaT: 0.498984 s, deltaX: -0.298555 m, approachRate: -0.598327 m/s, posRepo size: 4 2025-10-27T04:13:42.367Z,1761538422.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.45 m. 2025-10-27T04:13:42.370Z,1761538422.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.452600 m, nav range: 29.434780 m, bearing: 274.576030 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.798728 deg, new cmd heading: 274.858560 deg. 2025-10-27T04:13:42.387Z,1761538422.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797187 target range: 30.452600 and range: 30.60 m. 2025-10-27T04:13:42.473Z,1761538422.473 [DAT](INFO): DAT read: Rx Time:04:13:41.1547 2025-10-27T04:13:42.473Z,1761538422.473 [DAT](INFO): Rx dataTimestamp_ set to:1761538422.472977 2025-10-27T04:13:42.475Z,1761538422.475 [DAT](INFO): DAT read: Bearing 93.4, -6.8 (Local) 2025-10-27T04:13:42.475Z,1761538422.475 [DAT](INFO): Local bearing/azimuth received: Bearing 93.4, -6.8 (Local) 2025-10-27T04:13:42.477Z,1761538422.477 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 2025-10-27T04:13:42.482Z,1761538422.482 [DAT](INFO): DAT read: 04:13:41.1547 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.22,-2.872, 1.726,-2.607,-2.862, PHS= 0.092,-1.650, 0.211, RAW= 153.3, 14.8, CAL= 153.7, 16.7, ROT= 356.3, -16.7 2025-10-27T04:13:42.483Z,1761538422.483 [DAT](INFO): got valid direction response: 04:13:41.1547 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.22,-2.872, 1.726,-2.607,-2.862, PHS= 0.092,-1.650, 0.211, RAW= 153.3, 14.8, CAL= 153.7, 16.7, ROT= 356.3, -16.7 2025-10-27T04:13:42.483Z,1761538422.483 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T04:13:42.484Z,1761538422.484 [DAT](INFO): direction in FSK: [0.955826,-0.061811,0.287361] 2025-10-27T04:13:42.485Z,1761538422.485 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:42.489Z,1761538422.489 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.102108 2025-10-27T04:13:42.725Z,1761538422.725 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.338111 2025-10-27T04:13:42.977Z,1761538422.977 [DAT](INFO): DAT read: Rx Time:04:13:41.6544 2025-10-27T04:13:42.977Z,1761538422.977 [DAT](INFO): Rx dataTimestamp_ set to:1761538422.977195 2025-10-27T04:13:42.979Z,1761538422.979 [DAT](INFO): DAT read: Bearing 94.3, -6.7 (Local) 2025-10-27T04:13:42.979Z,1761538422.979 [DAT](INFO): Local bearing/azimuth received: Bearing 94.3, -6.7 (Local) 2025-10-27T04:13:42.981Z,1761538422.981 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 2025-10-27T04:13:42.986Z,1761538422.986 [DAT](INFO): DAT read: 04:13:41.6544 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.02,-1.997, 2.641,-1.745,-1.967, PHS= 0.073,-1.630, 0.178, RAW= 153.0, 15.5, CAL= 153.5, 17.6, ROT= 356.5, -17.6 2025-10-27T04:13:42.987Z,1761538422.987 [DAT](INFO): got valid direction response: 04:13:41.6544 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.02,-1.997, 2.641,-1.745,-1.967, PHS= 0.073,-1.630, 0.178, RAW= 153.0, 15.5, CAL= 153.5, 17.6, ROT= 356.5, -17.6 2025-10-27T04:13:42.987Z,1761538422.987 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T04:13:42.988Z,1761538422.988 [DAT](INFO): direction in FSK: [0.951413,-0.058191,0.302370] 2025-10-27T04:13:42.989Z,1761538422.989 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:43.004Z,1761538423.004 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.618055 2025-10-27T04:13:42.975Z,1761538422.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.504115 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:13:43.009Z,1761538423.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.452744 m, bearing: 274.984007 deg, lat: 36.779379 deg, lon: -121.859573 deg, deltaT: 0.504115 s, deltaX: 0.000143 m, approachRate: 0.000284 m/s, posRepo size: 4 2025-10-27T04:13:43.010Z,1761538423.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.45 m. 2025-10-27T04:13:43.021Z,1761538423.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.452744 m, nav range: 29.176929 m, bearing: 274.559197 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.858560 deg, new cmd heading: 274.922177 deg. 2025-10-27T04:13:43.024Z,1761538423.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798297 target range: 30.452744 and range: 30.60 m. 2025-10-27T04:13:43.229Z,1761538423.229 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.842328 2025-10-27T04:13:43.485Z,1761538423.485 [DAT](INFO): DAT read: Rx Time:04:13:42.1543 2025-10-27T04:13:43.486Z,1761538423.486 [DAT](INFO): Rx dataTimestamp_ set to:1761538423.485211 2025-10-27T04:13:43.490Z,1761538423.490 [DAT](INFO): DAT read: Bearing 89.0, -5.3 (Local) 2025-10-27T04:13:43.492Z,1761538423.492 [DAT](INFO): Local bearing/azimuth received: Bearing 89.0, -5.3 (Local) 2025-10-27T04:13:43.500Z,1761538423.500 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T04:13:43.525Z,1761538423.525 [DAT](INFO): DAT read: 04:13:42.1543 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.20,-1.368,-3.104,-1.112,-1.486, PHS= 0.220,-1.573, 0.330, RAW= 153.0, 11.1, CAL= 152.9, 12.2, ROT= 357.1, -12.2 2025-10-27T04:13:43.526Z,1761538423.526 [DAT](INFO): got valid direction response: 04:13:42.1543 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.20,-1.368,-3.104,-1.112,-1.486, PHS= 0.220,-1.573, 0.330, RAW= 153.0, 11.1, CAL= 152.9, 12.2, ROT= 357.1, -12.2 2025-10-27T04:13:43.527Z,1761538423.527 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T04:13:43.554Z,1761538423.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092891,0.981398,0.168018],[-0.995649,0.092803,0.008394],[-0.007354,-0.168067,0.985748]] 2025-10-27T04:13:43.560Z,1761538423.560 [DAT](INFO): direction in FSK: [0.976164,-0.049450,0.211325] 2025-10-27T04:13:43.560Z,1761538423.560 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:43.570Z,1761538423.570 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.183353 2025-10-27T04:13:43.677Z,1761538423.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 1.012234 s, deltaX: -0.600000 m, approachRate: -0.592749 m/s, rangeRepo size: 4 2025-10-27T04:13:43.684Z,1761538423.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.855576 m, bearing: 274.554888 deg, lat: 36.779379 deg, lon: -121.859573 deg, deltaT: 1.012234 s, deltaX: -0.597168 m, approachRate: -0.589951 m/s, posRepo size: 4 2025-10-27T04:13:43.684Z,1761538423.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m. 2025-10-27T04:13:43.691Z,1761538423.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.855576 m, nav range: 28.803070 m, bearing: 274.548160 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.922190 deg, new cmd heading: 274.994780 deg. 2025-10-27T04:13:43.693Z,1761538423.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.799564 target range: 29.855576 and range: 30.00 m. 2025-10-27T04:13:43.732Z,1761538423.732 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.345641 2025-10-27T04:13:43.984Z,1761538423.984 [DAT](INFO): DAT read: Rx Time:04:13:42.6541 2025-10-27T04:13:43.985Z,1761538423.985 [DAT](INFO): Rx dataTimestamp_ set to:1761538423.984673 2025-10-27T04:13:43.986Z,1761538423.986 [DAT](INFO): DAT read: Bearing 90.7, -6.9 (Local) 2025-10-27T04:13:43.987Z,1761538423.987 [DAT](INFO): Local bearing/azimuth received: Bearing 90.7, -6.9 (Local) 2025-10-27T04:13:43.989Z,1761538423.989 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.6 2025-10-27T04:13:43.993Z,1761538423.993 [DAT](INFO): DAT read: 04:13:42.6541 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496, 0.10,-1.538, 3.028,-1.245,-1.584, PHS= 0.149,-1.625, 0.296, RAW= 153.9, 12.7, CAL= 154.1, 14.2, ROT= 355.9, -14.2 2025-10-27T04:13:43.994Z,1761538423.994 [DAT](INFO): got valid direction response: 04:13:42.6541 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496, 0.10,-1.538, 3.028,-1.245,-1.584, PHS= 0.149,-1.625, 0.296, RAW= 153.9, 12.7, CAL= 154.1, 14.2, ROT= 355.9, -14.2 2025-10-27T04:13:43.995Z,1761538423.995 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T04:13:43.996Z,1761538423.996 [DAT](INFO): direction in FSK: [0.966964,-0.069313,0.245307] 2025-10-27T04:13:43.996Z,1761538423.996 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:44.004Z,1761538424.004 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.617519 2025-10-27T04:13:44.073Z,1761538424.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087342,0.982025,0.167325],[-0.996166,0.086928,0.009814],[-0.004908,-0.167541,0.985853]] 2025-10-27T04:13:44.148Z,1761538424.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.499462 s, deltaX: -0.400000 m, approachRate: -0.800861 m/s, rangeRepo size: 4 2025-10-27T04:13:44.150Z,1761538424.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.457502 m, bearing: 273.399567 deg, lat: 36.779379 deg, lon: -121.859573 deg, deltaT: 0.499462 s, deltaX: -0.398073 m, approachRate: -0.797004 m/s, posRepo size: 4 2025-10-27T04:13:44.151Z,1761538424.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.46 m. 2025-10-27T04:13:44.157Z,1761538424.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.457502 m, nav range: 28.526627 m, bearing: 274.546944 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 274.994781 deg, new cmd heading: 275.043386 deg. 2025-10-27T04:13:44.158Z,1761538424.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800413 target range: 29.457502 and range: 29.60 m. 2025-10-27T04:13:44.237Z,1761538424.237 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.850136 2025-10-27T04:13:44.492Z,1761538424.492 [DAT](INFO): DAT read: Rx Time:04:13:43.1540 2025-10-27T04:13:44.493Z,1761538424.493 [DAT](INFO): Rx dataTimestamp_ set to:1761538424.492565 2025-10-27T04:13:44.498Z,1761538424.498 [DAT](INFO): DAT read: Bearing 92.2, -6.2 (Local) 2025-10-27T04:13:44.500Z,1761538424.500 [DAT](INFO): Local bearing/azimuth received: Bearing 92.2, -6.2 (Local) 2025-10-27T04:13:44.502Z,1761538424.502 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.6 2025-10-27T04:13:44.507Z,1761538424.507 [DAT](INFO): DAT read: 04:13:43.1540 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.10,-0.968,-2.663,-0.717,-0.995, PHS= 0.129,-1.623, 0.234, RAW= 152.9, 13.9, CAL= 153.1, 15.5, ROT= 356.9, -15.5 2025-10-27T04:13:44.508Z,1761538424.508 [DAT](INFO): got valid direction response: 04:13:43.1540 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.10,-0.968,-2.663,-0.717,-0.995, PHS= 0.129,-1.623, 0.234, RAW= 152.9, 13.9, CAL= 153.1, 15.5, ROT= 356.9, -15.5 2025-10-27T04:13:44.508Z,1761538424.508 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T04:13:44.509Z,1761538424.509 [DAT](INFO): direction in FSK: [0.962220,-0.052112,0.267238] 2025-10-27T04:13:44.510Z,1761538424.510 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:44.541Z,1761538424.541 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.155043 2025-10-27T04:13:44.672Z,1761538424.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.507892 s, deltaX: -0.200001 m, approachRate: -0.393786 m/s, rangeRepo size: 4 2025-10-27T04:13:44.674Z,1761538424.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.258451 m, bearing: 274.618247 deg, lat: 36.779379 deg, lon: -121.859573 deg, deltaT: 0.507892 s, deltaX: -0.199051 m, approachRate: -0.391916 m/s, posRepo size: 4 2025-10-27T04:13:44.679Z,1761538424.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.26 m. 2025-10-27T04:13:44.682Z,1761538424.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.258451 m, nav range: 28.192064 m, bearing: 274.607724 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 275.043385 deg, new cmd heading: 275.097557 deg. 2025-10-27T04:13:44.687Z,1761538424.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801358 target range: 29.258451 and range: 29.40 m. 2025-10-27T04:13:44.741Z,1761538424.741 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.354292 2025-10-27T04:13:44.993Z,1761538424.993 [DAT](INFO): DAT read: Rx Time:04:13:43.6537 2025-10-27T04:13:44.993Z,1761538424.993 [DAT](INFO): Rx dataTimestamp_ set to:1761538424.992746 2025-10-27T04:13:44.994Z,1761538424.994 [DAT](INFO): DAT read: Bearing 92.7, -7.9 (Local) 2025-10-27T04:13:44.995Z,1761538424.995 [DAT](INFO): Local bearing/azimuth received: Bearing 92.7, -7.9 (Local) 2025-10-27T04:13:44.997Z,1761538424.997 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.6 2025-10-27T04:13:45.002Z,1761538425.002 [DAT](INFO): DAT read: 04:13:43.6537 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 508,-0.43,-1.440,-3.129,-1.130,-1.422, PHS= 0.084,-1.662, 0.248, RAW= 154.4, 14.4, CAL= 154.9, 16.3, ROT= 355.1, -16.3 2025-10-27T04:13:45.003Z,1761538425.003 [DAT](INFO): got valid direction response: 04:13:43.6537 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 508,-0.43,-1.440,-3.129,-1.130,-1.422, PHS= 0.084,-1.662, 0.248, RAW= 154.4, 14.4, CAL= 154.9, 16.3, ROT= 355.1, -16.3 2025-10-27T04:13:45.004Z,1761538425.004 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T04:13:45.005Z,1761538425.005 [DAT](INFO): direction in FSK: [0.956298,-0.081984,0.280667] 2025-10-27T04:13:45.005Z,1761538425.005 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:45.009Z,1761538425.009 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.622547 2025-10-27T04:13:45.074Z,1761538425.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081645,0.982813,0.165569],[-0.996659,0.080850,0.011548],[-0.002037,-0.165959,0.986130]] 2025-10-27T04:13:45.141Z,1761538425.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.500181 s, deltaX: -0.400000 m, approachRate: -0.799710 m/s, rangeRepo size: 4 2025-10-27T04:13:45.147Z,1761538425.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.860378 m, bearing: 272.632201 deg, lat: 36.779379 deg, lon: -121.859573 deg, deltaT: 0.500181 s, deltaX: -0.398073 m, approachRate: -0.795858 m/s, posRepo size: 4 2025-10-27T04:13:45.148Z,1761538425.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.86 m. 2025-10-27T04:13:45.153Z,1761538425.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.860378 m, nav range: 27.897142 m, bearing: 274.601595 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 275.097562 deg, new cmd heading: 275.146028 deg. 2025-10-27T04:13:45.154Z,1761538425.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802204 target range: 28.860378 and range: 29.00 m. 2025-10-27T04:13:45.244Z,1761538425.244 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.857910 2025-10-27T04:13:45.458Z,1761538425.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079489,0.983280,0.163836],[-0.996836,0.078513,0.012434],[-0.000637,-0.164306,0.986409]] 2025-10-27T04:13:45.500Z,1761538425.500 [DAT](INFO): DAT read: Rx Time:04:13:44.1534 2025-10-27T04:13:45.502Z,1761538425.502 [DAT](INFO): Rx dataTimestamp_ set to:1761538425.501018 2025-10-27T04:13:45.506Z,1761538425.506 [DAT](INFO): DAT read: Bearing 91.6, -6.6 (Local) 2025-10-27T04:13:45.507Z,1761538425.507 [DAT](INFO): Local bearing/azimuth received: Bearing 91.6, -6.6 (Local) 2025-10-27T04:13:45.514Z,1761538425.514 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.6 2025-10-27T04:13:45.530Z,1761538425.530 [DAT](INFO): DAT read: 04:13:44.1534 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.20, 0.402,-1.314, 0.677, 0.369, PHS= 0.135,-1.638, 0.264, RAW= 153.5, 13.4, CAL= 153.7, 15.0, ROT= 356.3, -15.0 2025-10-27T04:13:45.531Z,1761538425.531 [DAT](INFO): got valid direction response: 04:13:44.1534 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.20, 0.402,-1.314, 0.677, 0.369, PHS= 0.135,-1.638, 0.264, RAW= 153.5, 13.4, CAL= 153.7, 15.0, ROT= 356.3, -15.0 2025-10-27T04:13:45.532Z,1761538425.532 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T04:13:45.533Z,1761538425.533 [DAT](INFO): direction in FSK: [0.963912,-0.062334,0.258819] 2025-10-27T04:13:45.533Z,1761538425.533 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:45.541Z,1761538425.541 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.154524 2025-10-27T04:13:45.578Z,1761538425.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.508272 s, deltaX: -0.500000 m, approachRate: -0.983725 m/s, rangeRepo size: 4 2025-10-27T04:13:45.588Z,1761538425.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.362785 m, bearing: 273.432483 deg, lat: 36.779374 deg, lon: -121.859573 deg, deltaT: 0.508272 s, deltaX: -0.497593 m, approachRate: -0.978989 m/s, posRepo size: 4 2025-10-27T04:13:45.589Z,1761538425.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.36 m. 2025-10-27T04:13:45.600Z,1761538425.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.362785 m, nav range: 27.595379 m, bearing: 273.401934 deg, approach rate: 0.000000 m/s, LOS rate: 0.034440 deg/s, cmd heading: 275.146029 deg, new cmd heading: 275.191128 deg. 2025-10-27T04:13:45.601Z,1761538425.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802991 target range: 28.362785 and range: 28.50 m. 2025-10-27T04:13:45.748Z,1761538425.748 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.361671 2025-10-27T04:13:45.895Z,1761538425.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077754,0.983565,0.162952],[-0.996973,0.076656,0.013021],[0.000316,-0.163471,0.986548]] 2025-10-27T04:13:45.988Z,1761538425.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:45.990Z,1761538425.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.36 m. 2025-10-27T04:13:46.001Z,1761538426.001 [DAT](INFO): DAT read: Rx Time:04:13:44.6531 2025-10-27T04:13:46.001Z,1761538426.001 [DAT](INFO): Rx dataTimestamp_ set to:1761538426.000895 2025-10-27T04:13:46.002Z,1761538426.002 [DAT](INFO): DAT read: Bearing 91.5, -7.4 (Local) 2025-10-27T04:13:46.003Z,1761538426.003 [DAT](INFO): Local bearing/azimuth received: Bearing 91.5, -7.4 (Local) 2025-10-27T04:13:46.005Z,1761538426.005 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.7 2025-10-27T04:13:46.010Z,1761538426.010 [DAT](INFO): DAT read: 04:13:44.6531 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.05,-1.255,-2.957,-0.946,-1.270, PHS= 0.117,-1.641, 0.280, RAW= 154.4, 13.4, CAL= 154.7, 15.1, ROT= 355.3, -15.1 2025-10-27T04:13:46.011Z,1761538426.011 [DAT](INFO): got valid direction response: 04:13:44.6531 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.05,-1.255,-2.957,-0.946,-1.270, PHS= 0.117,-1.641, 0.280, RAW= 154.4, 13.4, CAL= 154.7, 15.1, ROT= 355.3, -15.1 2025-10-27T04:13:46.011Z,1761538426.011 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T04:13:46.012Z,1761538426.012 [DAT](INFO): direction in FSK: [0.962226,-0.079110,0.260505] 2025-10-27T04:13:46.012Z,1761538426.012 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:46.017Z,1761538426.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.362785 m, nav range: 27.334312 m, bearing: 273.396791 deg, approach rate: -0.631390 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.191136 deg, new cmd heading: 275.175558 deg. 2025-10-27T04:13:46.018Z,1761538426.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802720 target range: 28.362785 and range: 28.50 m. 2025-10-27T04:13:46.020Z,1761538426.020 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.633738 2025-10-27T04:13:46.252Z,1761538426.252 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.865929 2025-10-27T04:13:46.338Z,1761538426.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076507,0.983410,0.164472],[-0.997068,0.075167,0.014364],[0.001763,-0.165089,0.986277]] 2025-10-27T04:13:46.362Z,1761538426.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.499877 s, deltaX: -0.400000 m, approachRate: -0.800196 m/s, rangeRepo size: 4 2025-10-27T04:13:46.380Z,1761538426.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.964659 m, bearing: 272.302586 deg, lat: 36.779374 deg, lon: -121.859571 deg, deltaT: 0.499877 s, deltaX: -0.398127 m, approachRate: -0.796449 m/s, posRepo size: 4 2025-10-27T04:13:46.381Z,1761538426.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m. 2025-10-27T04:13:46.388Z,1761538426.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.964659 m, nav range: 26.937315 m, bearing: 273.358208 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.175563 deg, new cmd heading: 275.161601 deg. 2025-10-27T04:13:46.392Z,1761538426.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802476 target range: 27.964659 and range: 28.10 m. 2025-10-27T04:13:46.508Z,1761538426.508 [DAT](INFO): DAT read: Rx Time:04:13:45.1530 2025-10-27T04:13:46.510Z,1761538426.510 [DAT](INFO): Rx dataTimestamp_ set to:1761538426.508834 2025-10-27T04:13:46.514Z,1761538426.514 [DAT](INFO): DAT read: Bearing 91.8, -6.4 (Local) 2025-10-27T04:13:46.515Z,1761538426.515 [DAT](INFO): Local bearing/azimuth received: Bearing 91.8, -6.4 (Local) 2025-10-27T04:13:46.522Z,1761538426.522 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.5 2025-10-27T04:13:46.541Z,1761538426.541 [DAT](INFO): DAT read: 04:13:45.1530 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.01,-1.556, 3.041,-1.287,-1.583, PHS= 0.130,-1.614, 0.252, RAW= 153.4, 13.5, CAL= 153.6, 15.2, ROT= 356.4, -15.2 2025-10-27T04:13:46.542Z,1761538426.542 [DAT](INFO): got valid direction response: 04:13:45.1530 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.01,-1.556, 3.041,-1.287,-1.583, PHS= 0.130,-1.614, 0.252, RAW= 153.4, 13.5, CAL= 153.6, 15.2, ROT= 356.4, -15.2 2025-10-27T04:13:46.543Z,1761538426.543 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T04:13:46.548Z,1761538426.548 [DAT](INFO): direction in FSK: [0.963112,-0.060594,0.262189] 2025-10-27T04:13:46.549Z,1761538426.549 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:46.559Z,1761538426.559 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:13:46.564Z,1761538426.564 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.178007 2025-10-27T04:13:46.756Z,1761538426.756 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.369473 2025-10-27T04:13:46.842Z,1761538426.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076986,0.983748,0.162215],[-0.997027,0.075459,0.015564],[0.003071,-0.162931,0.986633]] 2025-10-27T04:13:46.957Z,1761538426.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.507939 s, deltaX: -0.200001 m, approachRate: -0.393750 m/s, rangeRepo size: 4 2025-10-27T04:13:46.964Z,1761538426.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.765617 m, bearing: 273.399379 deg, lat: 36.779374 deg, lon: -121.859571 deg, deltaT: 0.507939 s, deltaX: -0.199041 m, approachRate: -0.391861 m/s, posRepo size: 4 2025-10-27T04:13:46.964Z,1761538426.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.77 m. 2025-10-27T04:13:46.971Z,1761538426.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.765617 m, nav range: 26.630596 m, bearing: 273.405832 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.161602 deg, new cmd heading: 275.139154 deg. 2025-10-27T04:13:46.972Z,1761538426.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802084 target range: 27.765617 and range: 27.90 m. 2025-10-27T04:13:47.009Z,1761538427.009 [DAT](INFO): DAT read: Rx Time:04:13:45.6527 2025-10-27T04:13:47.009Z,1761538427.009 [DAT](INFO): Rx dataTimestamp_ set to:1761538427.008821 2025-10-27T04:13:47.010Z,1761538427.010 [DAT](INFO): DAT read: Bearing 90.7, -6.8 (Local) 2025-10-27T04:13:47.011Z,1761538427.011 [DAT](INFO): Local bearing/azimuth received: Bearing 90.7, -6.8 (Local) 2025-10-27T04:13:47.013Z,1761538427.013 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4 2025-10-27T04:13:47.020Z,1761538427.020 [DAT](INFO): DAT read: 04:13:45.6527 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498, 0.13, 2.507, 0.790, 2.807, 2.461, PHS= 0.149,-1.625, 0.302, RAW= 154.1, 12.6, CAL= 154.3, 14.1, ROT= 355.7, -14.1 2025-10-27T04:13:47.022Z,1761538427.022 [DAT](INFO): got valid direction response: 04:13:45.6527 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498, 0.13, 2.507, 0.790, 2.807, 2.461, PHS= 0.149,-1.625, 0.302, RAW= 154.1, 12.6, CAL= 154.3, 14.1, ROT= 355.7, -14.1 2025-10-27T04:13:47.022Z,1761538427.022 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T04:13:47.048Z,1761538427.048 [DAT](INFO): direction in FSK: [0.967142,-0.072719,0.243615] 2025-10-27T04:13:47.048Z,1761538427.048 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:47.068Z,1761538427.068 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.681654 2025-10-27T04:13:47.231Z,1761538427.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079260,0.983515,0.162528],[-0.996847,0.077611,0.016482],[0.003596,-0.163322,0.986566]] 2025-10-27T04:13:47.260Z,1761538427.260 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.873745 2025-10-27T04:13:47.333Z,1761538427.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.499987 s, deltaX: -0.400000 m, approachRate: -0.800020 m/s, rangeRepo size: 4 2025-10-27T04:13:47.335Z,1761538427.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.367544 m, bearing: 272.651907 deg, lat: 36.779371 deg, lon: -121.859571 deg, deltaT: 0.499987 s, deltaX: -0.398073 m, approachRate: -0.796167 m/s, posRepo size: 4 2025-10-27T04:13:47.339Z,1761538427.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m. 2025-10-27T04:13:47.342Z,1761538427.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.367544 m, nav range: 26.435740 m, bearing: 272.654206 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.139144 deg, new cmd heading: 275.125014 deg. 2025-10-27T04:13:47.348Z,1761538427.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801837 target range: 27.367544 and range: 27.50 m. 2025-10-27T04:13:47.517Z,1761538427.517 [DAT](INFO): DAT read: Rx Time:04:13:46.1526 2025-10-27T04:13:47.518Z,1761538427.518 [DAT](INFO): Rx dataTimestamp_ set to:1761538427.517409 2025-10-27T04:13:47.523Z,1761538427.523 [DAT](INFO): DAT read: Bearing 90.2, -5.7 (Local) 2025-10-27T04:13:47.524Z,1761538427.524 [DAT](INFO): Local bearing/azimuth received: Bearing 90.2, -5.7 (Local) 2025-10-27T04:13:47.564Z,1761538427.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:13:47.569Z,1761538427.569 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 2025-10-27T04:13:47.608Z,1761538427.608 [DAT](INFO): DAT read: 04:13:46.1526 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.41, 3.139, 1.427,-2.880, 3.061, PHS= 0.180,-1.589, 0.299, RAW= 153.2, 12.1, CAL= 153.3, 13.4, ROT= 356.7, -13.4 2025-10-27T04:13:47.609Z,1761538427.609 [DAT](INFO): got valid direction response: 04:13:46.1526 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.41, 3.139, 1.427,-2.880, 3.061, PHS= 0.180,-1.589, 0.299, RAW= 153.2, 12.1, CAL= 153.3, 13.4, ROT= 356.7, -13.4 2025-10-27T04:13:47.610Z,1761538427.610 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T04:13:47.620Z,1761538427.620 [DAT](INFO): direction in FSK: [0.971163,-0.055997,0.231748] 2025-10-27T04:13:47.620Z,1761538427.620 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:47.664Z,1761538427.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082184,0.983481,0.161279],[-0.996610,0.080472,0.017132],[0.003870,-0.162140,0.986760]] 2025-10-27T04:13:47.672Z,1761538427.672 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.285192 2025-10-27T04:13:47.764Z,1761538427.764 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.377579 2025-10-27T04:13:47.868Z,1761538427.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.508588 s, deltaX: -0.200001 m, approachRate: -0.393247 m/s, rangeRepo size: 4 2025-10-27T04:13:47.870Z,1761538427.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.168489 m, bearing: 273.670203 deg, lat: 36.779374 deg, lon: -121.859571 deg, deltaT: 0.508588 s, deltaX: -0.199055 m, approachRate: -0.391387 m/s, posRepo size: 4 2025-10-27T04:13:47.871Z,1761538427.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.17 m. 2025-10-27T04:13:47.877Z,1761538427.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.168489 m, nav range: 26.187286 m, bearing: 273.402100 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.125019 deg, new cmd heading: 275.104856 deg. 2025-10-27T04:13:47.878Z,1761538427.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801486 target range: 27.168489 and range: 27.30 m. 2025-10-27T04:13:48.017Z,1761538428.017 [DAT](INFO): DAT read: Rx Time:04:13:46.6524 2025-10-27T04:13:48.017Z,1761538428.017 [DAT](INFO): Rx dataTimestamp_ set to:1761538428.016749 2025-10-27T04:13:48.018Z,1761538428.018 [DAT](INFO): DAT read: Bearing 92.1, -6.3 (Local) 2025-10-27T04:13:48.019Z,1761538428.019 [DAT](INFO): Local bearing/azimuth received: Bearing 92.1, -6.3 (Local) 2025-10-27T04:13:48.021Z,1761538428.021 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 2025-10-27T04:13:48.026Z,1761538428.026 [DAT](INFO): DAT read: 04:13:46.6524 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.12,-0.197,-1.884, 0.074,-0.221, PHS= 0.126,-1.618, 0.251, RAW= 153.4, 13.6, CAL= 153.7, 15.3, ROT= 356.3, -15.3 2025-10-27T04:13:48.027Z,1761538428.027 [DAT](INFO): got valid direction response: 04:13:46.6524 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.12,-0.197,-1.884, 0.074,-0.221, PHS= 0.126,-1.618, 0.251, RAW= 153.4, 13.6, CAL= 153.7, 15.3, ROT= 356.3, -15.3 2025-10-27T04:13:48.027Z,1761538428.027 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T04:13:48.028Z,1761538428.028 [DAT](INFO): direction in FSK: [0.962547,-0.062245,0.263873] 2025-10-27T04:13:48.029Z,1761538428.029 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:48.033Z,1761538428.033 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.646141 2025-10-27T04:13:48.249Z,1761538428.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.499340 s, deltaX: -0.299999 m, approachRate: -0.600792 m/s, rangeRepo size: 4 2025-10-27T04:13:48.250Z,1761538428.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.869936 m, bearing: 273.603691 deg, lat: 36.779374 deg, lon: -121.859571 deg, deltaT: 0.499340 s, deltaX: -0.298553 m, approachRate: -0.597896 m/s, posRepo size: 4 2025-10-27T04:13:48.255Z,1761538428.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.87 m. 2025-10-27T04:13:48.258Z,1761538428.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.869936 m, nav range: 25.996899 m, bearing: 273.410915 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.104857 deg, new cmd heading: 275.090511 deg. 2025-10-27T04:13:48.268Z,1761538428.268 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.881575 2025-10-27T04:13:48.284Z,1761538428.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801235 target range: 26.869936 and range: 27.00 m. 2025-10-27T04:13:48.524Z,1761538428.524 [DAT](INFO): DAT read: Rx Time:04:13:47.1523 2025-10-27T04:13:48.526Z,1761538428.526 [DAT](INFO): Rx dataTimestamp_ set to:1761538428.524746 2025-10-27T04:13:48.530Z,1761538428.530 [DAT](INFO): DAT read: Bearing 91.0, -5.8 (Local) 2025-10-27T04:13:48.540Z,1761538428.540 [DAT](INFO): Local bearing/azimuth received: Bearing 91.0, -5.8 (Local) 2025-10-27T04:13:48.564Z,1761538428.564 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 2025-10-27T04:13:48.584Z,1761538428.584 [DAT](INFO): DAT read: 04:13:47.1523 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.36, 2.738, 1.022, 3.009, 2.677, PHS= 0.163,-1.610, 0.288, RAW= 153.4, 12.6, CAL= 153.5, 14.0, ROT= 356.5, -14.0 2025-10-27T04:13:48.586Z,1761538428.586 [DAT](INFO): got valid direction response: 04:13:47.1523 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.36, 2.738, 1.022, 3.009, 2.677, PHS= 0.163,-1.610, 0.288, RAW= 153.4, 12.6, CAL= 153.5, 14.0, ROT= 356.5, -14.0 2025-10-27T04:13:48.586Z,1761538428.586 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T04:13:48.592Z,1761538428.592 [DAT](INFO): direction in FSK: [0.968486,-0.059235,0.241922] 2025-10-27T04:13:48.592Z,1761538428.592 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:48.620Z,1761538428.620 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.233212 2025-10-27T04:13:48.631Z,1761538428.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089164,0.983395,0.158062],[-0.996007,0.087323,0.018570],[0.004459,-0.159087,0.987255]] 2025-10-27T04:13:48.750Z,1761538428.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.507997 s, deltaX: -0.100000 m, approachRate: -0.196852 m/s, rangeRepo size: 4 2025-10-27T04:13:48.756Z,1761538428.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.770380 m, bearing: 273.931532 deg, lat: 36.779375 deg, lon: -121.859572 deg, deltaT: 0.507997 s, deltaX: -0.099556 m, approachRate: -0.195977 m/s, posRepo size: 4 2025-10-27T04:13:48.757Z,1761538428.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.77 m. 2025-10-27T04:13:48.763Z,1761538428.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.770380 m, nav range: 25.849445 m, bearing: 273.597374 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.090513 deg, new cmd heading: 275.071637 deg. 2025-10-27T04:13:48.764Z,1761538428.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800906 target range: 26.770380 and range: 26.90 m. 2025-10-27T04:13:48.777Z,1761538428.777 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.390167 2025-10-27T04:13:49.026Z,1761538429.026 [DAT](INFO): DAT read: Rx Time:04:13:47.6521 2025-10-27T04:13:49.026Z,1761538429.026 [DAT](INFO): Rx dataTimestamp_ set to:1761538429.026011 2025-10-27T04:13:49.028Z,1761538429.028 [DAT](INFO): DAT read: Bearing 93.0, -6.6 (Local) 2025-10-27T04:13:49.028Z,1761538429.028 [DAT](INFO): Local bearing/azimuth received: Bearing 93.0, -6.6 (Local) 2025-10-27T04:13:49.030Z,1761538429.030 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 2025-10-27T04:13:49.035Z,1761538429.035 [DAT](INFO): DAT read: 04:13:47.6521 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.03, 1.111,-0.560, 1.394, 1.109, PHS= 0.104,-1.623, 0.241, RAW= 153.8, 14.1, CAL= 154.1, 15.9, ROT= 355.9, -15.9 2025-10-27T04:13:49.036Z,1761538429.036 [DAT](INFO): got valid direction response: 04:13:47.6521 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.03, 1.111,-0.560, 1.394, 1.109, PHS= 0.104,-1.623, 0.241, RAW= 153.8, 14.1, CAL= 154.1, 15.9, ROT= 355.9, -15.9 2025-10-27T04:13:49.036Z,1761538429.036 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T04:13:49.037Z,1761538429.037 [DAT](INFO): direction in FSK: [0.959280,-0.068762,0.273959] 2025-10-27T04:13:49.037Z,1761538429.037 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:49.047Z,1761538429.047 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.659935 2025-10-27T04:13:49.201Z,1761538429.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.501265 s, deltaX: -0.299999 m, approachRate: -0.598484 m/s, rangeRepo size: 4 2025-10-27T04:13:49.207Z,1761538429.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.471825 m, bearing: 273.662399 deg, lat: 36.779375 deg, lon: -121.859571 deg, deltaT: 0.501265 s, deltaX: -0.298555 m, approachRate: -0.595604 m/s, posRepo size: 4 2025-10-27T04:13:49.208Z,1761538429.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.47 m. 2025-10-27T04:13:49.211Z,1761538429.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.471825 m, nav range: 25.575270 m, bearing: 273.632847 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.071635 deg, new cmd heading: 275.054625 deg. 2025-10-27T04:13:49.216Z,1761538429.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800609 target range: 26.471825 and range: 26.60 m. 2025-10-27T04:13:49.281Z,1761538429.281 [DAT](INFO): DAT read: Rx Time:04:13:48.1520 2025-10-27T04:13:49.282Z,1761538429.282 [DAT](INFO): Rx dataTimestamp_ set to:1761538429.281303 2025-10-27T04:13:49.286Z,1761538429.286 [DAT](INFO): DAT read: Bearing 92.4, -6.4 (Local) 2025-10-27T04:13:49.287Z,1761538429.287 [DAT](INFO): Local bearing/azimuth received: Bearing 92.4, -6.4 (Local) 2025-10-27T04:13:49.289Z,1761538429.289 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.901976 2025-10-27T04:13:49.534Z,1761538429.534 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 2025-10-27T04:13:49.565Z,1761538429.565 [DAT](INFO): DAT read: 04:13:48.1520 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.18,-0.525,-2.208,-0.236,-0.548, PHS= 0.125,-1.615, 0.268, RAW= 153.9, 13.4, CAL= 154.2, 15.0, ROT= 355.8, -15.0 2025-10-27T04:13:49.578Z,1761538429.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096332,0.983185,0.155137],[-0.995336,0.094342,0.020157],[0.005182,-0.156355,0.987687]] 2025-10-27T04:13:49.571Z,1761538429.571 [DAT](INFO): got valid direction response: 04:13:48.1520 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.18,-0.525,-2.208,-0.236,-0.548, PHS= 0.125,-1.615, 0.268, RAW= 153.9, 13.4, CAL= 154.2, 15.0, ROT= 355.8, -15.0 2025-10-27T04:13:49.587Z,1761538429.587 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T04:13:49.596Z,1761538429.596 [DAT](INFO): direction in FSK: [0.963332,-0.070743,0.258819] 2025-10-27T04:13:49.596Z,1761538429.596 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:49.608Z,1761538429.608 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.221519 2025-10-27T04:13:49.710Z,1761538429.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.502609 s, deltaX: -0.200001 m, approachRate: -0.397925 m/s, rangeRepo size: 4 2025-10-27T04:13:49.718Z,1761538429.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.272861 m, bearing: 273.777210 deg, lat: 36.779375 deg, lon: -121.859570 deg, deltaT: 0.502609 s, deltaX: -0.198963 m, approachRate: -0.395861 m/s, posRepo size: 4 2025-10-27T04:13:49.723Z,1761538429.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.27 m. 2025-10-27T04:13:49.727Z,1761538429.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.272861 m, nav range: 25.284636 m, bearing: 273.777296 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.054614 deg, new cmd heading: 275.035461 deg. 2025-10-27T04:13:49.732Z,1761538429.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800274 target range: 26.272861 and range: 26.40 m. 2025-10-27T04:13:49.783Z,1761538429.783 [DAT](INFO): DAT read: Rx Time:04:13:48.6518 2025-10-27T04:13:49.785Z,1761538429.785 [DAT](INFO): Rx dataTimestamp_ set to:1761538429.784120 2025-10-27T04:13:49.788Z,1761538429.788 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.400244 2025-10-27T04:13:49.986Z,1761538429.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102686,0.982713,0.154048],[-0.994692,0.100427,0.022399],[0.006541,-0.155531,0.987809]] 2025-10-27T04:13:50.033Z,1761538430.033 [DAT](INFO): DAT read: Bearing 90.0, -5.8 (Local) 2025-10-27T04:13:50.033Z,1761538430.033 [DAT](INFO): Local bearing/azimuth received: Bearing 90.0, -5.8 (Local) 2025-10-27T04:13:50.035Z,1761538430.035 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.3 2025-10-27T04:13:50.040Z,1761538430.040 [DAT](INFO): DAT read: 04:13:48.6518 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.36,-2.161, 2.429,-1.864,-2.247, PHS= 0.188,-1.562, 0.339, RAW= 154.1, 11.3, CAL= 154.1, 12.5, ROT= 355.9, -12.5 2025-10-27T04:13:50.041Z,1761538430.041 [DAT](INFO): got valid direction response: 04:13:48.6518 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.36,-2.161, 2.429,-1.864,-2.247, PHS= 0.188,-1.562, 0.339, RAW= 154.1, 11.3, CAL= 154.1, 12.5, ROT= 355.9, -12.5 2025-10-27T04:13:50.041Z,1761538430.041 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T04:13:50.042Z,1761538430.042 [DAT](INFO): direction in FSK: [0.973797,-0.069803,0.216440] 2025-10-27T04:13:50.043Z,1761538430.043 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:50.046Z,1761538430.046 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.659840 2025-10-27T04:13:50.081Z,1761538430.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.502786 s, deltaX: -0.299999 m, approachRate: -0.596674 m/s, rangeRepo size: 4 2025-10-27T04:13:50.082Z,1761538430.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.974306 m, bearing: 273.815382 deg, lat: 36.779375 deg, lon: -121.859570 deg, deltaT: 0.502786 s, deltaX: -0.298555 m, approachRate: -0.593802 m/s, posRepo size: 4 2025-10-27T04:13:50.083Z,1761538430.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.97 m. 2025-10-27T04:13:50.086Z,1761538430.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.974306 m, nav range: 25.113609 m, bearing: 273.799198 deg, approach rate: 0.000000 m/s, LOS rate: -0.012558 deg/s, cmd heading: 275.035462 deg, new cmd heading: 275.021480 deg. 2025-10-27T04:13:50.095Z,1761538430.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800030 target range: 25.974306 and range: 26.10 m. 2025-10-27T04:13:50.287Z,1761538430.287 [DAT](INFO): DAT read: Rx Time:04:13:49.1517 2025-10-27T04:13:50.289Z,1761538430.289 [DAT](INFO): Rx dataTimestamp_ set to:1761538430.287885 2025-10-27T04:13:50.292Z,1761538430.292 [DAT](INFO): DAT read: Bearing 90.1, -5.8 (Local) 2025-10-27T04:13:50.293Z,1761538430.293 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, -5.8 (Local) 2025-10-27T04:13:50.295Z,1761538430.295 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.908655 2025-10-27T04:13:50.378Z,1761538430.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105613,0.982653,0.152444],[-0.994379,0.103200,0.023679],[0.007536,-0.154088,0.988028]] 2025-10-27T04:13:50.444Z,1761538430.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:50.447Z,1761538430.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.97 m. 2025-10-27T04:13:50.453Z,1761538430.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.974306 m, nav range: 24.951849 m, bearing: 273.819111 deg, approach rate: -0.441179 m/s, LOS rate: 0.054660 deg/s, cmd heading: 275.021474 deg, new cmd heading: 275.081598 deg. 2025-10-27T04:13:50.454Z,1761538430.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801080 target range: 25.974306 and range: 26.10 m. 2025-10-27T04:13:50.550Z,1761538430.550 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 2025-10-27T04:13:50.593Z,1761538430.593 [DAT](INFO): DAT read: 04:13:49.1517 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 504, 0.29, 1.487,-0.225, 1.792, 1.399, PHS= 0.190,-1.579, 0.349, RAW= 154.3, 11.2, CAL= 154.2, 12.4, ROT= 355.8, -12.4 2025-10-27T04:13:50.594Z,1761538430.594 [DAT](INFO): got valid direction response: 04:13:49.1517 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 504, 0.29, 1.487,-0.225, 1.792, 1.399, PHS= 0.190,-1.579, 0.349, RAW= 154.3, 11.2, CAL= 154.2, 12.4, ROT= 355.8, -12.4 2025-10-27T04:13:50.594Z,1761538430.594 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T04:13:50.604Z,1761538430.604 [DAT](INFO): direction in FSK: [0.974049,-0.071530,0.214735] 2025-10-27T04:13:50.604Z,1761538430.604 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:50.620Z,1761538430.620 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.233192 2025-10-27T04:13:50.795Z,1761538430.795 [DAT](INFO): DAT read: Rx Time:04:13:49.6515 2025-10-27T04:13:50.797Z,1761538430.797 [DAT](INFO): Rx dataTimestamp_ set to:1761538430.795769 2025-10-27T04:13:50.799Z,1761538430.799 [DAT](INFO): DAT read: Bearing 90.0, -5.9 (Local) 2025-10-27T04:13:50.801Z,1761538430.801 [DAT](INFO): Local bearing/azimuth received: Bearing 90.0, -5.9 (Local) 2025-10-27T04:13:50.803Z,1761538430.803 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.415709 2025-10-27T04:13:50.840Z,1761538430.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107778,0.982467,0.152126],[-0.994134,0.105108,0.025511],[0.009074,-0.153983,0.988032]] 2025-10-27T04:13:50.934Z,1761538430.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.510462 s, deltaX: -0.100000 m, approachRate: -0.195902 m/s, rangeRepo size: 4 2025-10-27T04:13:50.941Z,1761538430.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.874836 m, bearing: 273.971612 deg, lat: 36.779375 deg, lon: -121.859572 deg, deltaT: 0.510462 s, deltaX: -0.099470 m, approachRate: -0.194863 m/s, posRepo size: 4 2025-10-27T04:13:50.942Z,1761538430.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T04:13:50.948Z,1761538430.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.874836 m, nav range: 24.878923 m, bearing: 273.872068 deg, approach rate: 0.000000 m/s, LOS rate: 0.054660 deg/s, cmd heading: 275.081607 deg, new cmd heading: 275.161417 deg. 2025-10-27T04:13:50.949Z,1761538430.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802473 target range: 25.874836 and range: 26.00 m. 2025-10-27T04:13:51.047Z,1761538431.047 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.3 2025-10-27T04:13:51.058Z,1761538431.058 [DAT](INFO): DAT read: 04:13:49.6515 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.05, 0.119,-1.602, 0.439, 0.029, PHS= 0.192,-1.586, 0.366, RAW= 154.6, 11.0, CAL= 154.6, 12.1, ROT= 355.4, -12.1 2025-10-27T04:13:51.059Z,1761538431.059 [DAT](INFO): got valid direction response: 04:13:49.6515 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.05, 0.119,-1.602, 0.439, 0.029, PHS= 0.192,-1.586, 0.366, RAW= 154.6, 11.0, CAL= 154.6, 12.1, ROT= 355.4, -12.1 2025-10-27T04:13:51.059Z,1761538431.059 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T04:13:51.060Z,1761538431.060 [DAT](INFO): direction in FSK: [0.974634,-0.078417,0.209619] 2025-10-27T04:13:51.061Z,1761538431.061 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:51.121Z,1761538431.121 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.734285 2025-10-27T04:13:51.299Z,1761538431.299 [DAT](INFO): DAT read: Rx Time:04:13:50.1515 2025-10-27T04:13:51.301Z,1761538431.301 [DAT](INFO): Rx dataTimestamp_ set to:1761538431.299839 2025-10-27T04:13:51.304Z,1761538431.304 [DAT](INFO): DAT read: Bearing 90.3, -5.7 (Local) 2025-10-27T04:13:51.306Z,1761538431.306 [DAT](INFO): Local bearing/azimuth received: Bearing 90.3, -5.7 (Local) 2025-10-27T04:13:51.311Z,1761538431.311 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 2025-10-27T04:13:51.317Z,1761538431.317 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-27T04:13:51.332Z,1761538431.332 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.945127 2025-10-27T04:13:51.362Z,1761538431.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108712,0.982630,0.150400],[-0.994014,0.105800,0.027254],[0.010868,-0.152462,0.988250]] 2025-10-27T04:13:51.426Z,1761538431.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.757971 s, deltaX: -0.299999 m, approachRate: -0.395793 m/s, rangeRepo size: 4 2025-10-27T04:13:51.438Z,1761538431.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.576283 m, bearing: 273.559522 deg, lat: 36.779375 deg, lon: -121.859572 deg, deltaT: 0.757971 s, deltaX: -0.298553 m, approachRate: -0.393885 m/s, posRepo size: 4 2025-10-27T04:13:51.438Z,1761538431.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m. 2025-10-27T04:13:51.445Z,1761538431.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.576283 m, nav range: 24.643560 m, bearing: 273.868592 deg, approach rate: 0.000000 m/s, LOS rate: 0.054660 deg/s, cmd heading: 275.161411 deg, new cmd heading: 275.241910 deg. 2025-10-27T04:13:51.446Z,1761538431.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.803877 target range: 25.576283 and range: 25.70 m. 2025-10-27T04:13:51.558Z,1761538431.558 [DAT](INFO): DAT read: 04:13:50.1515 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.22,-0.298,-2.021, 0.020,-0.384, PHS= 0.188,-1.591, 0.360, RAW= 154.6, 11.2, CAL= 154.5, 12.3, ROT= 355.5, -12.3 2025-10-27T04:13:51.565Z,1761538431.565 [DAT](INFO): got valid direction response: 04:13:50.1515 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.22,-0.298,-2.021, 0.020,-0.384, PHS= 0.188,-1.591, 0.360, RAW= 154.6, 11.2, CAL= 154.5, 12.3, ROT= 355.5, -12.3 2025-10-27T04:13:51.566Z,1761538431.566 [DAT](INFO): #Rx 44: Read direction message, but no range. 2025-10-27T04:13:51.590Z,1761538431.590 [DAT](INFO): direction in FSK: [0.974034,-0.076658,0.213030] 2025-10-27T04:13:51.640Z,1761538431.640 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.253923 2025-10-27T04:13:51.757Z,1761538431.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109384,0.982521,0.150623],[-0.993922,0.106223,0.028900],[0.012396,-0.152869,0.988169]] 2025-10-27T04:13:51.804Z,1761538431.804 [DAT](INFO): DAT read: Rx Time:04:13:50.6512 2025-10-27T04:13:51.805Z,1761538431.805 [DAT](INFO): Rx dataTimestamp_ set to:1761538431.804369 2025-10-27T04:13:51.809Z,1761538431.809 [DAT](INFO): DAT read: Bearing 91.3, -5.6 (Local) 2025-10-27T04:13:51.811Z,1761538431.811 [DAT](INFO): Local bearing/azimuth received: Bearing 91.3, -5.6 (Local) 2025-10-27T04:13:51.820Z,1761538431.820 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 2025-10-27T04:13:51.831Z,1761538431.831 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-27T04:13:51.832Z,1761538431.832 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.445436 2025-10-27T04:13:51.895Z,1761538431.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504530 s, deltaX: -0.500000 m, approachRate: -0.991021 m/s, rangeRepo size: 4 2025-10-27T04:13:51.897Z,1761538431.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.078735 m, bearing: 273.734080 deg, lat: 36.779375 deg, lon: -121.859572 deg, deltaT: 0.504530 s, deltaX: -0.497547 m, approachRate: -0.986160 m/s, posRepo size: 4 2025-10-27T04:13:51.898Z,1761538431.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m. 2025-10-27T04:13:51.920Z,1761538431.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.078735 m, nav range: 24.406572 m, bearing: 273.895610 deg, approach rate: 0.000000 m/s, LOS rate: 0.054660 deg/s, cmd heading: 275.241898 deg, new cmd heading: 275.318979 deg. 2025-10-27T04:13:51.922Z,1761538431.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.805223 target range: 25.078735 and range: 25.20 m. 2025-10-27T04:13:52.057Z,1761538432.057 [DAT](INFO): DAT read: 04:13:50.6512 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.18, 1.628,-0.084, 1.935, 1.562, PHS= 0.167,-1.601, 0.329, RAW= 154.3, 11.9, CAL= 154.4, 13.2, ROT= 355.6, -13.2 2025-10-27T04:13:52.059Z,1761538432.059 [DAT](INFO): got valid direction response: 04:13:50.6512 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.18, 1.628,-0.084, 1.935, 1.562, PHS= 0.167,-1.601, 0.329, RAW= 154.3, 11.9, CAL= 154.4, 13.2, ROT= 355.6, -13.2 2025-10-27T04:13:52.060Z,1761538432.060 [DAT](INFO): #Rx 46: Read direction message, but no range. 2025-10-27T04:13:52.061Z,1761538432.061 [DAT](INFO): direction in FSK: [0.970710,-0.074692,0.228351] 2025-10-27T04:13:52.066Z,1761538432.066 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.679646 2025-10-27T04:13:52.260Z,1761538432.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109010,0.982703,0.149706],[-0.993940,0.105609,0.030502],[0.014164,-0.152123,0.988260]] 2025-10-27T04:13:52.308Z,1761538432.308 [DAT](INFO): DAT read: Rx Time:04:13:51.1512 2025-10-27T04:13:52.310Z,1761538432.310 [DAT](INFO): Rx dataTimestamp_ set to:1761538432.308667 2025-10-27T04:13:52.336Z,1761538432.336 [DAT](INFO): DAT read: Bearing 92.1, -6.0 (Local) 2025-10-27T04:13:52.336Z,1761538432.336 [DAT](INFO): Local bearing/azimuth received: Bearing 92.1, -6.0 (Local) 2025-10-27T04:13:52.338Z,1761538432.338 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 2025-10-27T04:13:52.345Z,1761538432.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m. 2025-10-27T04:13:52.352Z,1761538432.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.078735 m, nav range: 24.207808 m, bearing: 273.918856 deg, approach rate: -0.441212 m/s, LOS rate: 0.052023 deg/s, cmd heading: 275.318970 deg, new cmd heading: 275.389278 deg. 2025-10-27T04:13:52.353Z,1761538432.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806449 target range: 25.078735 and range: 25.20 m. 2025-10-27T04:13:52.355Z,1761538432.355 [DAT](INFO): DAT read: 04:13:51.1512 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.22, 0.611,-1.092, 0.927, 0.570, PHS= 0.143,-1.617, 0.313, RAW= 154.6, 12.5, CAL= 154.7, 14.0, ROT= 355.3, -14.0 2025-10-27T04:13:52.356Z,1761538432.356 [DAT](INFO): got valid direction response: 04:13:51.1512 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.22, 0.611,-1.092, 0.927, 0.570, PHS= 0.143,-1.617, 0.313, RAW= 154.6, 12.5, CAL= 154.7, 14.0, ROT= 355.3, -14.0 2025-10-27T04:13:52.357Z,1761538432.357 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T04:13:52.358Z,1761538432.358 [DAT](INFO): direction in FSK: [0.967033,-0.079505,0.241922] 2025-10-27T04:13:52.358Z,1761538432.358 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:52.371Z,1761538432.371 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.983219 2025-10-27T04:13:52.559Z,1761538432.559 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.171907 2025-10-27T04:13:52.667Z,1761538432.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108267,0.982528,0.151384],[-0.993998,0.104591,0.032062],[0.015668,-0.153947,0.987955]] 2025-10-27T04:13:52.815Z,1761538432.815 [DAT](INFO): DAT read: Rx Time:04:13:51.6509 2025-10-27T04:13:52.816Z,1761538432.816 [DAT](INFO): Rx dataTimestamp_ set to:1761538432.815432 2025-10-27T04:13:52.821Z,1761538432.821 [DAT](INFO): DAT read: Bearing 91.1, -4.8 (Local) 2025-10-27T04:13:52.822Z,1761538432.822 [DAT](INFO): Local bearing/azimuth received: Bearing 91.1, -4.8 (Local) 2025-10-27T04:13:52.824Z,1761538432.824 [DAT](INFO): DAT read: Range 11 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-27T04:13:52.825Z,1761538432.825 [DAT](INFO): unknown deviceResponse_: Range 11 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-27T04:13:52.828Z,1761538432.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504298 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:13:52.830Z,1761538432.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.078775 m, bearing: 273.759860 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.504298 s, deltaX: 0.000040 m, approachRate: 0.000079 m/s, posRepo size: 4 2025-10-27T04:13:52.833Z,1761538432.833 [DAT](INFO): DAT read: 04:13:51.6509 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496, 0.08, 1.174,-0.529, 1.457, 1.090, PHS= 0.186,-1.574, 0.323, RAW= 153.7, 11.6, CAL= 153.7, 12.9, ROT= 356.3, -12.9 2025-10-27T04:13:52.835Z,1761538432.835 [DAT](INFO): got valid direction response: 04:13:51.6509 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496, 0.08, 1.174,-0.529, 1.457, 1.090, PHS= 0.186,-1.574, 0.323, RAW= 153.7, 11.6, CAL= 153.7, 12.9, ROT= 356.3, -12.9 2025-10-27T04:13:52.843Z,1761538432.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m. 2025-10-27T04:13:52.846Z,1761538432.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.078775 m, nav range: 24.172497 m, bearing: 273.759941 deg, approach rate: 0.000000 m/s, LOS rate: 0.052023 deg/s, cmd heading: 275.389266 deg, new cmd heading: 275.460794 deg. 2025-10-27T04:13:52.846Z,1761538432.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807698 target range: 25.078775 and range: 25.20 m. 2025-10-27T04:13:52.847Z,1761538432.847 [DAT](INFO): #Rx 48: Read direction message, but no range. 2025-10-27T04:13:52.848Z,1761538432.848 [DAT](INFO): direction in FSK: [0.972729,-0.062904,0.223250] 2025-10-27T04:13:52.860Z,1761538432.860 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.473181 2025-10-27T04:13:53.063Z,1761538433.063 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.676880 2025-10-27T04:13:53.207Z,1761538433.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:53.209Z,1761538433.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m. 2025-10-27T04:13:53.212Z,1761538433.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.078775 m, nav range: 23.923935 m, bearing: 273.770793 deg, approach rate: -0.612279 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.460792 deg, new cmd heading: 275.493683 deg. 2025-10-27T04:13:53.213Z,1761538433.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808272 target range: 25.078775 and range: 25.20 m. 2025-10-27T04:13:53.316Z,1761538433.316 [DAT](INFO): DAT read: Rx Time:04:13:52.1507 2025-10-27T04:13:53.318Z,1761538433.318 [DAT](INFO): Rx dataTimestamp_ set to:1761538433.317197 2025-10-27T04:13:53.322Z,1761538433.322 [DAT](INFO): DAT read: Bearing 91.2, -4.9 (Local) 2025-10-27T04:13:53.323Z,1761538433.323 [DAT](INFO): Local bearing/azimuth received: Bearing 91.2, -4.9 (Local) 2025-10-27T04:13:53.325Z,1761538433.325 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 2025-10-27T04:13:53.325Z,1761538433.325 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-27T04:13:53.326Z,1761538433.326 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.939823 2025-10-27T04:13:53.570Z,1761538433.570 [DAT](INFO): DAT read: 04:13:52.1507 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.40, 1.157,-0.540, 1.445, 1.078, PHS= 0.180,-1.574, 0.323, RAW= 153.9, 11.7, CAL= 153.9, 12.9, ROT= 356.1, -12.9 2025-10-27T04:13:53.576Z,1761538433.576 [DAT](INFO): got valid direction response: 04:13:52.1507 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.40, 1.157,-0.540, 1.445, 1.078, PHS= 0.180,-1.574, 0.323, RAW= 153.9, 11.7, CAL= 153.9, 12.9, ROT= 356.1, -12.9 2025-10-27T04:13:53.577Z,1761538433.577 [DAT](INFO): #Rx 50: Read direction message, but no range. 2025-10-27T04:13:53.578Z,1761538433.578 [DAT](INFO): direction in FSK: [0.972504,-0.066299,0.223250] 2025-10-27T04:13:53.582Z,1761538433.582 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.195120 2025-10-27T04:13:53.797Z,1761538433.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 1.008530 s, deltaX: -0.600000 m, approachRate: -0.594926 m/s, rangeRepo size: 4 2025-10-27T04:13:53.820Z,1761538433.820 [DAT](INFO): DAT read: Rx Time:04:13:52.6505 2025-10-27T04:13:53.822Z,1761538433.822 [DAT](INFO): Rx dataTimestamp_ set to:1761538433.821138 2025-10-27T04:13:53.824Z,1761538433.824 [DAT](INFO): DAT read: Bearing 93.0, -5.9 (Local) 2025-10-27T04:13:53.824Z,1761538433.824 [DAT](INFO): Local bearing/azimuth received: Bearing 93.0, -5.9 (Local) 2025-10-27T04:13:53.827Z,1761538433.827 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 2025-10-27T04:13:53.835Z,1761538433.835 [DAT](INFO): DAT read: 04:13:52.6505 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.25,-2.038, 2.570,-1.730,-2.058, PHS= 0.121,-1.611, 0.283, RAW= 154.4, 13.2, CAL= 154.7, 14.8, ROT= 355.3, -14.8 2025-10-27T04:13:53.836Z,1761538433.836 [DAT](INFO): got valid direction response: 04:13:52.6505 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.25,-2.038, 2.570,-1.730,-2.058, PHS= 0.121,-1.611, 0.283, RAW= 154.4, 13.2, CAL= 154.7, 14.8, ROT= 355.3, -14.8 2025-10-27T04:13:53.837Z,1761538433.837 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T04:13:53.838Z,1761538433.838 [DAT](INFO): direction in FSK: [0.963572,-0.079220,0.255446] 2025-10-27T04:13:53.838Z,1761538433.838 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:53.839Z,1761538433.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.481617 m, bearing: 274.375385 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 1.008530 s, deltaX: -0.597158 m, approachRate: -0.592108 m/s, posRepo size: 4 2025-10-27T04:13:53.843Z,1761538433.843 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.456150 2025-10-27T04:13:53.843Z,1761538433.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.48 m. 2025-10-27T04:13:53.846Z,1761538433.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.481617 m, nav range: 23.682671 m, bearing: 273.759273 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.493686 deg, new cmd heading: 275.540637 deg. 2025-10-27T04:13:53.852Z,1761538433.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809092 target range: 24.481617 and range: 24.60 m. 2025-10-27T04:13:54.068Z,1761538434.068 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.681650 2025-10-27T04:13:54.198Z,1761538434.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104403,0.981750,0.158952],[-0.994270,0.099341,0.039486],[0.022975,-0.162164,0.986496]] 2025-10-27T04:13:54.242Z,1761538434.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503941 s, deltaX: -0.300001 m, approachRate: -0.595310 m/s, rangeRepo size: 4 2025-10-27T04:13:54.248Z,1761538434.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.183060 m, bearing: 273.796583 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.503941 s, deltaX: -0.298557 m, approachRate: -0.592445 m/s, posRepo size: 4 2025-10-27T04:13:54.249Z,1761538434.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T04:13:54.256Z,1761538434.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.183060 m, nav range: 23.388308 m, bearing: 273.760494 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.540650 deg, new cmd heading: 275.577317 deg. 2025-10-27T04:13:54.257Z,1761538434.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809731 target range: 24.183060 and range: 24.30 m. 2025-10-27T04:13:54.324Z,1761538434.324 [DAT](INFO): DAT read: Rx Time:04:13:53.1504 2025-10-27T04:13:54.324Z,1761538434.324 [DAT](INFO): Rx dataTimestamp_ set to:1761538434.323864 2025-10-27T04:13:54.325Z,1761538434.325 [DAT](INFO): DAT read: Bearing 91.7, -5.0 (Local) 2025-10-27T04:13:54.326Z,1761538434.326 [DAT](INFO): Local bearing/azimuth received: Bearing 91.7, -5.0 (Local) 2025-10-27T04:13:54.328Z,1761538434.328 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 2025-10-27T04:13:54.333Z,1761538434.333 [DAT](INFO): DAT read: 04:13:53.1504 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.06,-0.496,-2.177,-0.203,-0.561, PHS= 0.167,-1.571, 0.313, RAW= 154.0, 12.0, CAL= 154.1, 13.3, ROT= 355.9, -13.3 2025-10-27T04:13:54.334Z,1761538434.334 [DAT](INFO): got valid direction response: 04:13:53.1504 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.06,-0.496,-2.177,-0.203,-0.561, PHS= 0.167,-1.571, 0.313, RAW= 154.0, 12.0, CAL= 154.1, 13.3, ROT= 355.9, -13.3 2025-10-27T04:13:54.334Z,1761538434.334 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T04:13:54.337Z,1761538434.337 [DAT](INFO): direction in FSK: [0.970688,-0.069580,0.230050] 2025-10-27T04:13:54.337Z,1761538434.337 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:54.341Z,1761538434.341 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.954473 2025-10-27T04:13:54.573Z,1761538434.573 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.186543 2025-10-27T04:13:54.663Z,1761538434.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103366,0.981922,0.158571],[-0.994349,0.098136,0.040484],[0.024191,-0.161859,0.986517]] 2025-10-27T04:13:54.798Z,1761538434.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502726 s, deltaX: -0.099998 m, approachRate: -0.198912 m/s, rangeRepo size: 4 2025-10-27T04:13:54.820Z,1761538434.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.083319 m, bearing: 274.069485 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.502726 s, deltaX: -0.099741 m, approachRate: -0.198400 m/s, posRepo size: 4 2025-10-27T04:13:54.822Z,1761538434.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T04:13:54.825Z,1761538434.825 [DAT](INFO): DAT read: Rx Time:04:13:53.6501 2025-10-27T04:13:54.825Z,1761538434.825 [DAT](INFO): Rx dataTimestamp_ set to:1761538434.825091 2025-10-27T04:13:54.827Z,1761538434.827 [DAT](INFO): DAT read: Bearing 92.7, -5.3 (Local) 2025-10-27T04:13:54.827Z,1761538434.827 [DAT](INFO): Local bearing/azimuth received: Bearing 92.7, -5.3 (Local) 2025-10-27T04:13:54.829Z,1761538434.829 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 2025-10-27T04:13:54.830Z,1761538434.830 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-27T04:13:54.831Z,1761538434.831 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.444199 2025-10-27T04:13:54.858Z,1761538434.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.083319 m, nav range: 23.096472 m, bearing: 273.754819 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.577315 deg, new cmd heading: 275.621748 deg. 2025-10-27T04:13:54.859Z,1761538434.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810507 target range: 24.083319 and range: 24.20 m. 2025-10-27T04:13:55.080Z,1761538435.080 [DAT](INFO): DAT read: 04:13:53.6501 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.08,-0.175,-1.860, 0.121,-0.213, PHS= 0.140,-1.602, 0.290, RAW= 154.1, 12.8, CAL= 154.3, 14.3, ROT= 355.7, -14.3 2025-10-27T04:13:55.081Z,1761538435.081 [DAT](INFO): got valid direction response: 04:13:53.6501 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.08,-0.175,-1.860, 0.121,-0.213, PHS= 0.140,-1.602, 0.290, RAW= 154.1, 12.8, CAL= 154.3, 14.3, ROT= 355.7, -14.3 2025-10-27T04:13:55.081Z,1761538435.081 [DAT](INFO): #Rx 54: Read direction message, but no range. 2025-10-27T04:13:55.082Z,1761538435.082 [DAT](INFO): direction in FSK: [0.966288,-0.072655,0.246999] 2025-10-27T04:13:55.085Z,1761538435.085 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.699043 2025-10-27T04:13:55.190Z,1761538435.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102931,0.981445,0.161777],[-0.994323,0.097117,0.043467],[0.026949,-0.165333,0.985870]] 2025-10-27T04:13:55.248Z,1761538435.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.501227 s, deltaX: -0.500000 m, approachRate: -0.997552 m/s, rangeRepo size: 4 2025-10-27T04:13:55.250Z,1761538435.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.585730 m, bearing: 274.070542 deg, lat: 36.779376 deg, lon: -121.859575 deg, deltaT: 0.501227 s, deltaX: -0.497589 m, approachRate: -0.992742 m/s, posRepo size: 4 2025-10-27T04:13:55.255Z,1761538435.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.59 m. 2025-10-27T04:13:55.258Z,1761538435.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.585730 m, nav range: 22.837425 m, bearing: 274.033858 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.621738 deg, new cmd heading: 275.658874 deg. 2025-10-27T04:13:55.264Z,1761538435.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811155 target range: 23.585730 and range: 23.70 m. 2025-10-27T04:13:55.329Z,1761538435.329 [DAT](INFO): DAT read: Rx Time:04:13:54.1500 2025-10-27T04:13:55.329Z,1761538435.329 [DAT](INFO): Rx dataTimestamp_ set to:1761538435.328838 2025-10-27T04:13:55.330Z,1761538435.330 [DAT](INFO): DAT read: Bearing 90.1, -4.7 (Local) 2025-10-27T04:13:55.331Z,1761538435.331 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, -4.7 (Local) 2025-10-27T04:13:55.333Z,1761538435.333 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 2025-10-27T04:13:55.338Z,1761538435.338 [DAT](INFO): DAT read: 04:13:54.1500 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.25, 1.918, 0.222, 2.221, 1.812, PHS= 0.208,-1.545, 0.365, RAW= 154.2, 10.6, CAL= 154.1, 11.6, ROT= 355.9, -11.6 2025-10-27T04:13:55.339Z,1761538435.339 [DAT](INFO): got valid direction response: 04:13:54.1500 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.25, 1.918, 0.222, 2.221, 1.812, PHS= 0.208,-1.545, 0.365, RAW= 154.2, 10.6, CAL= 154.1, 11.6, ROT= 355.9, -11.6 2025-10-27T04:13:55.339Z,1761538435.339 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T04:13:55.340Z,1761538435.340 [DAT](INFO): direction in FSK: [0.977068,-0.070037,0.201078] 2025-10-27T04:13:55.340Z,1761538435.340 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:55.344Z,1761538435.344 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.957884 2025-10-27T04:13:55.580Z,1761538435.580 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.193890 2025-10-27T04:13:55.687Z,1761538435.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103001,0.981789,0.159630],[-0.994280,0.097065,0.044570],[0.028264,-0.163307,0.986170]] 2025-10-27T04:13:55.823Z,1761538435.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503747 s, deltaX: -0.100000 m, approachRate: -0.198513 m/s, rangeRepo size: 4 2025-10-27T04:13:55.825Z,1761538435.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.486408 m, bearing: 273.776076 deg, lat: 36.779376 deg, lon: -121.859575 deg, deltaT: 0.503747 s, deltaX: -0.099321 m, approachRate: -0.197165 m/s, posRepo size: 4 2025-10-27T04:13:55.826Z,1761538435.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.49 m. 2025-10-27T04:13:55.833Z,1761538435.833 [DAT](INFO): DAT read: Rx Time:04:13:54.6498 2025-10-27T04:13:55.833Z,1761538435.833 [DAT](INFO): Rx dataTimestamp_ set to:1761538435.832818 2025-10-27T04:13:55.834Z,1761538435.834 [DAT](INFO): DAT read: Bearing 90.5, -5.0 (Local) 2025-10-27T04:13:55.835Z,1761538435.835 [DAT](INFO): Local bearing/azimuth received: Bearing 90.5, -5.0 (Local) 2025-10-27T04:13:55.837Z,1761538435.837 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 2025-10-27T04:13:55.841Z,1761538435.842 [DAT](INFO): DAT read: 04:13:54.6498 LVL= 32496, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.43,-1.709, 2.874,-1.395,-1.803, PHS= 0.196,-1.561, 0.364, RAW= 154.5, 10.8, CAL= 154.5, 11.9, ROT= 355.5, -11.9 2025-10-27T04:13:55.843Z,1761538435.843 [DAT](INFO): got valid direction response: 04:13:54.6498 LVL= 32496, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.43,-1.709, 2.874,-1.395,-1.803, PHS= 0.196,-1.561, 0.364, RAW= 154.5, 10.8, CAL= 154.5, 11.9, ROT= 355.5, -11.9 2025-10-27T04:13:55.843Z,1761538435.843 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T04:13:55.844Z,1761538435.844 [DAT](INFO): direction in FSK: [0.975493,-0.076773,0.206204] 2025-10-27T04:13:55.844Z,1761538435.844 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:55.849Z,1761538435.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.486408 m, nav range: 22.638861 m, bearing: 273.997187 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.658867 deg, new cmd heading: 275.704489 deg. 2025-10-27T04:13:55.850Z,1761538435.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811951 target range: 23.486408 and range: 23.60 m. 2025-10-27T04:13:55.852Z,1761538435.852 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.465900 2025-10-27T04:13:56.085Z,1761538436.085 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.698256 2025-10-27T04:13:56.166Z,1761538436.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103409,0.982091,0.157489],[-0.994209,0.097405,0.045394],[0.029241,-0.161272,0.986477]] 2025-10-27T04:13:56.189Z,1761538436.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503980 s, deltaX: -0.500000 m, approachRate: -0.992103 m/s, rangeRepo size: 4 2025-10-27T04:13:56.191Z,1761538436.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.988815 m, bearing: 273.426204 deg, lat: 36.779375 deg, lon: -121.859574 deg, deltaT: 0.503980 s, deltaX: -0.497593 m, approachRate: -0.987327 m/s, posRepo size: 4 2025-10-27T04:13:56.192Z,1761538436.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m. 2025-10-27T04:13:56.194Z,1761538436.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.988815 m, nav range: 22.301439 m, bearing: 273.805249 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.704493 deg, new cmd heading: 275.735082 deg. 2025-10-27T04:13:56.196Z,1761538436.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812485 target range: 22.988815 and range: 23.10 m. 2025-10-27T04:13:56.337Z,1761538436.337 [DAT](INFO): DAT read: Rx Time:04:13:55.1498 2025-10-27T04:13:56.337Z,1761538436.337 [DAT](INFO): Rx dataTimestamp_ set to:1761538436.336819 2025-10-27T04:13:56.338Z,1761538436.338 [DAT](INFO): DAT read: Bearing 91.9, -5.1 (Local) 2025-10-27T04:13:56.339Z,1761538436.339 [DAT](INFO): Local bearing/azimuth received: Bearing 91.9, -5.1 (Local) 2025-10-27T04:13:56.341Z,1761538436.341 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 2025-10-27T04:13:56.346Z,1761538436.346 [DAT](INFO): DAT read: 04:13:55.1498 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500,-0.17,-0.345,-2.030,-0.037,-0.405, PHS= 0.162,-1.581, 0.324, RAW= 154.4, 12.0, CAL= 154.5, 13.3, ROT= 355.5, -13.3 2025-10-27T04:13:56.347Z,1761538436.347 [DAT](INFO): got valid direction response: 04:13:55.1498 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500,-0.17,-0.345,-2.030,-0.037,-0.405, PHS= 0.162,-1.581, 0.324, RAW= 154.4, 12.0, CAL= 154.5, 13.3, ROT= 355.5, -13.3 2025-10-27T04:13:56.348Z,1761538436.348 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T04:13:56.349Z,1761538436.349 [DAT](INFO): direction in FSK: [0.970179,-0.076355,0.230050] 2025-10-27T04:13:56.349Z,1761538436.349 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:56.354Z,1761538436.354 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.967640 2025-10-27T04:13:56.562Z,1761538436.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104246,0.982146,0.156594],[-0.994105,0.098183,0.045989],[0.029793,-0.160465,0.986592]] 2025-10-27T04:13:56.588Z,1761538436.588 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.201679 2025-10-27T04:13:56.594Z,1761538436.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:13:56.626Z,1761538436.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.988815 m, bearing: 273.700063 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.504001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:13:56.633Z,1761538436.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m. 2025-10-27T04:13:56.655Z,1761538436.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.988815 m, nav range: 22.148956 m, bearing: 273.774660 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.735092 deg, new cmd heading: 275.767941 deg. 2025-10-27T04:13:56.659Z,1761538436.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813058 target range: 22.988815 and range: 23.10 m. 2025-10-27T04:13:56.841Z,1761538436.841 [DAT](INFO): DAT read: Rx Time:04:13:55.6495 2025-10-27T04:13:56.841Z,1761538436.841 [DAT](INFO): Rx dataTimestamp_ set to:1761538436.840889 2025-10-27T04:13:56.842Z,1761538436.842 [DAT](INFO): DAT read: Bearing 90.4, -4.6 (Local) 2025-10-27T04:13:56.843Z,1761538436.843 [DAT](INFO): Local bearing/azimuth received: Bearing 90.4, -4.6 (Local) 2025-10-27T04:13:56.845Z,1761538436.845 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.6 2025-10-27T04:13:56.850Z,1761538436.850 [DAT](INFO): DAT read: 04:13:55.6495 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.13,-0.741,-2.428,-0.430,-0.840, PHS= 0.202,-1.542, 0.367, RAW= 154.5, 10.6, CAL= 154.4, 11.7, ROT= 355.6, -11.7 2025-10-27T04:13:56.851Z,1761538436.851 [DAT](INFO): got valid direction response: 04:13:55.6495 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.13,-0.741,-2.428,-0.430,-0.840, PHS= 0.202,-1.542, 0.367, RAW= 154.5, 10.6, CAL= 154.4, 11.7, ROT= 355.6, -11.7 2025-10-27T04:13:56.851Z,1761538436.851 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T04:13:56.852Z,1761538436.852 [DAT](INFO): direction in FSK: [0.976337,-0.075125,0.202787] 2025-10-27T04:13:56.853Z,1761538436.853 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:56.856Z,1761538436.856 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.469942 2025-10-27T04:13:57.019Z,1761538437.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105238,0.982192,0.155643],[-0.993986,0.099125,0.046548],[0.030291,-0.159606,0.986716]] 2025-10-27T04:13:57.085Z,1761538437.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504070 s, deltaX: -0.400000 m, approachRate: -0.793540 m/s, rangeRepo size: 4 2025-10-27T04:13:57.087Z,1761538437.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.590744 m, bearing: 273.575939 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.504070 s, deltaX: -0.398071 m, approachRate: -0.789714 m/s, posRepo size: 4 2025-10-27T04:13:57.088Z,1761538437.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m. 2025-10-27T04:13:57.092Z,1761538437.092 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.705654 2025-10-27T04:13:57.092Z,1761538437.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.590744 m, nav range: 21.901443 m, bearing: 273.680299 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.767932 deg, new cmd heading: 275.807681 deg. 2025-10-27T04:13:57.093Z,1761538437.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813752 target range: 22.590744 and range: 22.70 m. 2025-10-27T04:13:57.349Z,1761538437.349 [DAT](INFO): DAT read: Rx Time:04:13:56.1493 2025-10-27T04:13:57.349Z,1761538437.349 [DAT](INFO): Rx dataTimestamp_ set to:1761538437.348964 2025-10-27T04:13:57.352Z,1761538437.352 [DAT](INFO): DAT read: Bearing 92.4, -3.9 (Local) 2025-10-27T04:13:57.352Z,1761538437.352 [DAT](INFO): Local bearing/azimuth received: Bearing 92.4, -3.9 (Local) 2025-10-27T04:13:57.354Z,1761538437.354 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T04:13:57.360Z,1761538437.360 [DAT](INFO): DAT read: 04:13:56.1493 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 512,-0.36,-2.250, 2.131,-1.969,-2.345, PHS= 0.198,-1.762, 0.332, RAW= 153.3, 12.1, CAL= 153.4, 13.4, ROT= 356.6, -13.4 2025-10-27T04:13:57.361Z,1761538437.361 [DAT](INFO): got valid direction response: 04:13:56.1493 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 512,-0.36,-2.250, 2.131,-1.969,-2.345, PHS= 0.198,-1.762, 0.332, RAW= 153.3, 12.1, CAL= 153.4, 13.4, ROT= 356.6, -13.4 2025-10-27T04:13:57.361Z,1761538437.361 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T04:13:57.362Z,1761538437.362 [DAT](INFO): direction in FSK: [0.971064,-0.057692,0.231748] 2025-10-27T04:13:57.362Z,1761538437.362 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:57.366Z,1761538437.366 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.979713 2025-10-27T04:13:57.444Z,1761538437.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105909,0.982076,0.155916],[-0.993894,0.099665,0.047355],[0.030966,-0.159979,0.986635]] 2025-10-27T04:13:57.508Z,1761538437.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.508075 s, deltaX: -0.300001 m, approachRate: -0.590466 m/s, rangeRepo size: 4 2025-10-27T04:13:57.510Z,1761538437.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.292187 m, bearing: 274.901543 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 0.508075 s, deltaX: -0.298557 m, approachRate: -0.587624 m/s, posRepo size: 4 2025-10-27T04:13:57.511Z,1761538437.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m. 2025-10-27T04:13:57.517Z,1761538437.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.292187 m, nav range: 21.708242 m, bearing: 273.664027 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.807683 deg, new cmd heading: 275.840292 deg. 2025-10-27T04:13:57.518Z,1761538437.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814322 target range: 22.292187 and range: 22.40 m. 2025-10-27T04:13:57.602Z,1761538437.602 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.215988 2025-10-27T04:13:57.861Z,1761538437.861 [DAT](INFO): DAT read: Rx Time:04:13:56.6491 2025-10-27T04:13:57.861Z,1761538437.861 [DAT](INFO): Rx dataTimestamp_ set to:1761538437.861080 2025-10-27T04:13:57.863Z,1761538437.863 [DAT](INFO): DAT read: Bearing 91.1, -5.5 (Local) 2025-10-27T04:13:57.863Z,1761538437.863 [DAT](INFO): Local bearing/azimuth received: Bearing 91.1, -5.5 (Local) 2025-10-27T04:13:57.865Z,1761538437.865 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4 2025-10-27T04:13:57.870Z,1761538437.870 [DAT](INFO): DAT read: 04:13:56.6491 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.05,-2.685, 1.922,-2.345,-2.753, PHS= 0.170,-1.563, 0.364, RAW= 155.3, 11.2, CAL= 155.3, 12.4, ROT= 354.7, -12.4 2025-10-27T04:13:57.871Z,1761538437.871 [DAT](INFO): got valid direction response: 04:13:56.6491 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.05,-2.685, 1.922,-2.345,-2.753, PHS= 0.170,-1.563, 0.364, RAW= 155.3, 11.2, CAL= 155.3, 12.4, ROT= 354.7, -12.4 2025-10-27T04:13:57.871Z,1761538437.871 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T04:13:57.872Z,1761538437.872 [DAT](INFO): direction in FSK: [0.972497,-0.090216,0.214735] 2025-10-27T04:13:57.872Z,1761538437.872 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:57.896Z,1761538437.896 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.509853 2025-10-27T04:13:57.000Z,1761538438.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.512116 s, deltaX: -0.299999 m, approachRate: -0.585803 m/s, rangeRepo size: 4 2025-10-27T04:13:58.002Z,1761538438.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.993649 m, bearing: 272.839231 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.512116 s, deltaX: -0.298538 m, approachRate: -0.582950 m/s, posRepo size: 4 2025-10-27T04:13:58.003Z,1761538438.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.99 m. 2025-10-27T04:13:58.013Z,1761538438.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.993649 m, nav range: 21.401739 m, bearing: 273.559722 deg, approach rate: 0.000000 m/s, LOS rate: 0.027007 deg/s, cmd heading: 275.840304 deg, new cmd heading: 275.881475 deg. 2025-10-27T04:13:58.014Z,1761538438.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815040 target range: 21.993649 and range: 22.10 m. 2025-10-27T04:13:58.113Z,1761538438.113 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.726475 2025-10-27T04:13:58.341Z,1761538438.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109603,0.981408,0.157558],[-0.993469,0.103104,0.048871],[0.031718,-0.161886,0.986300]] 2025-10-27T04:13:58.358Z,1761538438.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:13:58.360Z,1761538438.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.99 m. 2025-10-27T04:13:58.363Z,1761538438.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.993649 m, nav range: 21.203094 m, bearing: 273.547902 deg, approach rate: -0.544454 m/s, LOS rate: -0.032702 deg/s, cmd heading: 275.881477 deg, new cmd heading: 275.845683 deg. 2025-10-27T04:13:58.365Z,1761538438.365 [DAT](INFO): DAT read: Rx Time:04:13:57.1490 2025-10-27T04:13:58.365Z,1761538438.365 [DAT](INFO): Rx dataTimestamp_ set to:1761538438.364802 2025-10-27T04:13:58.366Z,1761538438.366 [DAT](INFO): DAT read: Bearing 92.0, -5.6 (Local) 2025-10-27T04:13:58.367Z,1761538438.367 [DAT](INFO): Local bearing/azimuth received: Bearing 92.0, -5.6 (Local) 2025-10-27T04:13:58.369Z,1761538438.369 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-27T04:13:58.374Z,1761538438.374 [DAT](INFO): DAT read: 04:13:57.1490 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.34, 2.627, 0.942, 2.965, 2.574, PHS= 0.155,-1.587, 0.347, RAW= 155.2, 11.7, CAL= 155.3, 13.0, ROT= 354.7, -13.0 2025-10-27T04:13:58.386Z,1761538438.386 [DAT](INFO): got valid direction response: 04:13:57.1490 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.34, 2.627, 0.942, 2.965, 2.574, PHS= 0.155,-1.587, 0.347, RAW= 155.2, 11.7, CAL= 155.3, 13.0, ROT= 354.7, -13.0 2025-10-27T04:13:58.386Z,1761538438.386 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T04:13:58.392Z,1761538438.392 [DAT](INFO): direction in FSK: [0.970204,-0.090003,0.224951] 2025-10-27T04:13:58.392Z,1761538438.392 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:58.396Z,1761538438.396 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.009151 2025-10-27T04:13:58.405Z,1761538438.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.814415 target range: 21.993649 and range: 22.10 m. 2025-10-27T04:13:58.616Z,1761538438.616 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.229626 2025-10-27T04:13:58.745Z,1761538438.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111904,0.981341,0.156359],[-0.993204,0.105388,0.049385],[0.031985,-0.160822,0.986465]] 2025-10-27T04:13:58.868Z,1761538438.868 [DAT](INFO): DAT read: Rx Time:04:13:57.6488 2025-10-27T04:13:58.869Z,1761538438.869 [DAT](INFO): Rx dataTimestamp_ set to:1761538438.868627 2025-10-27T04:13:58.870Z,1761538438.870 [DAT](INFO): DAT read: Bearing 93.5, -5.7 (Local) 2025-10-27T04:13:58.870Z,1761538438.870 [DAT](INFO): Local bearing/azimuth received: Bearing 93.5, -5.7 (Local) 2025-10-27T04:13:58.873Z,1761538438.873 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 2025-10-27T04:13:58.877Z,1761538438.877 [DAT](INFO): DAT read: 04:13:57.6488 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.09,-3.083, 1.541,-2.755,-3.103, PHS= 0.122,-1.594, 0.304, RAW= 155.0, 12.8, CAL= 155.2, 14.4, ROT= 354.8, -14.4 2025-10-27T04:13:58.878Z,1761538438.878 [DAT](INFO): got valid direction response: 04:13:57.6488 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.09,-3.083, 1.541,-2.755,-3.103, PHS= 0.122,-1.594, 0.304, RAW= 155.0, 12.8, CAL= 155.2, 14.4, ROT= 354.8, -14.4 2025-10-27T04:13:58.879Z,1761538438.879 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T04:13:58.880Z,1761538438.880 [DAT](INFO): direction in FSK: [0.964597,-0.087785,0.248690] 2025-10-27T04:13:58.880Z,1761538438.880 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:58.883Z,1761538438.883 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.497061 2025-10-27T04:13:58.938Z,1761538438.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 1.007547 s, deltaX: -0.500000 m, approachRate: -0.496255 m/s, rangeRepo size: 4 2025-10-27T04:13:58.952Z,1761538438.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.496038 m, bearing: 273.635582 deg, lat: 36.779374 deg, lon: -121.859573 deg, deltaT: 1.007547 s, deltaX: -0.497610 m, approachRate: -0.493883 m/s, posRepo size: 4 2025-10-27T04:13:58.953Z,1761538438.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m. 2025-10-27T04:13:58.968Z,1761538438.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.496038 m, nav range: 20.832777 m, bearing: 273.589797 deg, approach rate: 0.000000 m/s, LOS rate: -0.032702 deg/s, cmd heading: 275.845686 deg, new cmd heading: 275.789072 deg. 2025-10-27T04:13:58.968Z,1761538438.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813427 target range: 21.496038 and range: 21.60 m. 2025-10-27T04:13:59.120Z,1761538439.120 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.733637 2025-10-27T04:13:59.334Z,1761538439.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115488,0.981138,0.155016],[-0.992756,0.108804,0.050959],[0.033131,-0.159778,0.986597]] 2025-10-27T04:13:59.357Z,1761538439.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m. 2025-10-27T04:13:59.373Z,1761538439.373 [DAT](INFO): DAT read: Rx Time:04:13:58.1488 2025-10-27T04:13:59.373Z,1761538439.373 [DAT](INFO): Rx dataTimestamp_ set to:1761538439.372765 2025-10-27T04:13:59.374Z,1761538439.374 [DAT](INFO): DAT read: Bearing 92.6, -5.7 (Local) 2025-10-27T04:13:59.375Z,1761538439.375 [DAT](INFO): Local bearing/azimuth received: Bearing 92.6, -5.7 (Local) 2025-10-27T04:13:59.377Z,1761538439.377 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 2025-10-27T04:13:59.382Z,1761538439.382 [DAT](INFO): DAT read: 04:13:58.1488 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.30, 2.840, 1.168,-3.100, 2.801, PHS= 0.141,-1.588, 0.339, RAW= 155.4, 12.1, CAL= 155.5, 13.4, ROT= 354.5, -13.4 2025-10-27T04:13:59.383Z,1761538439.383 [DAT](INFO): got valid direction response: 04:13:58.1488 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.30, 2.840, 1.168,-3.100, 2.801, PHS= 0.141,-1.588, 0.339, RAW= 155.4, 12.1, CAL= 155.5, 13.4, ROT= 354.5, -13.4 2025-10-27T04:13:59.384Z,1761538439.384 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T04:13:59.385Z,1761538439.385 [DAT](INFO): direction in FSK: [0.968297,-0.093237,0.231748] 2025-10-27T04:13:59.385Z,1761538439.385 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:59.393Z,1761538439.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.496038 m, nav range: 20.589939 m, bearing: 273.584596 deg, approach rate: -0.578757 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.789078 deg, new cmd heading: 275.773293 deg. 2025-10-27T04:13:59.394Z,1761538439.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813152 target range: 21.496038 and range: 21.60 m. 2025-10-27T04:13:59.403Z,1761538439.403 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.011978 2025-10-27T04:13:59.625Z,1761538439.625 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.238174 2025-10-27T04:13:59.772Z,1761538439.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117291,0.981108,0.153847],[-0.992522,0.110533,0.051795],[0.033811,-0.158772,0.986736]] 2025-10-27T04:13:59.866Z,1761538439.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504138 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:13:59.868Z,1761538439.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.496033 m, bearing: 273.444897 deg, lat: 36.779374 deg, lon: -121.859572 deg, deltaT: 0.504138 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-27T04:13:59.869Z,1761538439.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m. 2025-10-27T04:13:59.872Z,1761538439.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.496033 m, nav range: 20.302092 m, bearing: 273.608416 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.773286 deg, new cmd heading: 275.754136 deg. 2025-10-27T04:13:59.873Z,1761538439.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812818 target range: 21.496033 and range: 21.60 m. 2025-10-27T04:13:59.877Z,1761538439.877 [DAT](INFO): DAT read: Rx Time:04:13:58.6485 2025-10-27T04:13:59.877Z,1761538439.877 [DAT](INFO): Rx dataTimestamp_ set to:1761538439.876783 2025-10-27T04:13:59.878Z,1761538439.878 [DAT](INFO): DAT read: Bearing 92.7, -5.5 (Local) 2025-10-27T04:13:59.879Z,1761538439.879 [DAT](INFO): Local bearing/azimuth received: Bearing 92.7, -5.5 (Local) 2025-10-27T04:13:59.881Z,1761538439.881 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 2025-10-27T04:13:59.885Z,1761538439.885 [DAT](INFO): DAT read: 04:13:58.6485 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.10,-1.896, 2.724,-1.556,-1.939, PHS= 0.144,-1.575, 0.338, RAW= 155.3, 12.0, CAL= 155.4, 13.3, ROT= 354.6, -13.3 2025-10-27T04:13:59.887Z,1761538439.887 [DAT](INFO): got valid direction response: 04:13:58.6485 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.10,-1.896, 2.724,-1.556,-1.939, PHS= 0.144,-1.575, 0.338, RAW= 155.3, 12.0, CAL= 155.4, 13.3, ROT= 354.6, -13.3 2025-10-27T04:13:59.887Z,1761538439.887 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T04:13:59.888Z,1761538439.888 [DAT](INFO): direction in FSK: [0.968860,-0.091584,0.230050] 2025-10-27T04:13:59.888Z,1761538439.888 [DAT](INFO): publishing direction and range info 2025-10-27T04:13:59.912Z,1761538439.912 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.525930 2025-10-27T04:14:00.129Z,1761538440.129 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.742193 2025-10-27T04:14:00.224Z,1761538440.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118784,0.980803,0.154645],[-0.992316,0.111833,0.052930],[0.034619,-0.159744,0.986551]] 2025-10-27T04:14:00.301Z,1761538440.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504018 s, deltaX: -0.400000 m, approachRate: -0.793622 m/s, rangeRepo size: 4 2025-10-27T04:14:00.324Z,1761538440.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.097958 m, bearing: 273.627951 deg, lat: 36.779374 deg, lon: -121.859573 deg, deltaT: 0.504018 s, deltaX: -0.398075 m, approachRate: -0.789803 m/s, posRepo size: 4 2025-10-27T04:14:00.325Z,1761538440.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m. 2025-10-27T04:14:00.362Z,1761538440.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.097958 m, nav range: 20.142715 m, bearing: 273.615790 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.754135 deg, new cmd heading: 275.738078 deg. 2025-10-27T04:14:00.362Z,1761538440.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812537 target range: 21.097958 and range: 21.20 m. 2025-10-27T04:14:00.384Z,1761538440.384 [DAT](INFO): DAT read: Rx Time:04:13:59.1485 2025-10-27T04:14:00.385Z,1761538440.385 [DAT](INFO): Rx dataTimestamp_ set to:1761538440.384660 2025-10-27T04:14:00.386Z,1761538440.386 [DAT](INFO): DAT read: Bearing 92.2, -5.5 (Local) 2025-10-27T04:14:00.387Z,1761538440.387 [DAT](INFO): Local bearing/azimuth received: Bearing 92.2, -5.5 (Local) 2025-10-27T04:14:00.389Z,1761538440.389 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.6 2025-10-27T04:14:00.394Z,1761538440.394 [DAT](INFO): DAT read: 04:13:59.1485 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.29,-2.465, 2.142,-2.114,-2.518, PHS= 0.155,-1.578, 0.360, RAW= 155.5, 11.5, CAL= 155.6, 12.8, ROT= 354.4, -12.8 2025-10-27T04:14:00.411Z,1761538440.411 [DAT](INFO): got valid direction response: 04:13:59.1485 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.29,-2.465, 2.142,-2.114,-2.518, PHS= 0.155,-1.578, 0.360, RAW= 155.5, 11.5, CAL= 155.6, 12.8, ROT= 354.4, -12.8 2025-10-27T04:14:00.412Z,1761538440.412 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T04:14:00.414Z,1761538440.414 [DAT](INFO): direction in FSK: [0.970495,-0.095158,0.221548] 2025-10-27T04:14:00.415Z,1761538440.415 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:00.423Z,1761538440.423 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.035976 2025-10-27T04:14:00.632Z,1761538440.632 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.245625 2025-10-27T04:14:00.878Z,1761538440.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.507877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:00.885Z,1761538440.885 [DAT](INFO): DAT read: Rx Time:04:13:59.6482 2025-10-27T04:14:00.885Z,1761538440.885 [DAT](INFO): Rx dataTimestamp_ set to:1761538440.884776 2025-10-27T04:14:00.886Z,1761538440.886 [DAT](INFO): DAT read: Bearing 91.8, -5.1 (Local) 2025-10-27T04:14:00.887Z,1761538440.887 [DAT](INFO): Local bearing/azimuth received: Bearing 91.8, -5.1 (Local) 2025-10-27T04:14:00.889Z,1761538440.889 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4 2025-10-27T04:14:00.893Z,1761538440.893 [DAT](INFO): DAT read: 04:13:59.6482 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.08,-1.719, 2.896,-1.376,-1.787, PHS= 0.170,-1.555, 0.367, RAW= 155.3, 11.1, CAL= 155.3, 12.3, ROT= 354.7, -12.3 2025-10-27T04:14:00.896Z,1761538440.896 [DAT](INFO): got valid direction response: 04:13:59.6482 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.08,-1.719, 2.896,-1.376,-1.787, PHS= 0.170,-1.555, 0.367, RAW= 155.3, 11.1, CAL= 155.3, 12.3, ROT= 354.7, -12.3 2025-10-27T04:14:00.896Z,1761538440.896 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T04:14:00.899Z,1761538440.899 [DAT](INFO): direction in FSK: [0.972868,-0.090250,0.213030] 2025-10-27T04:14:00.901Z,1761538440.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.097891 m, bearing: 273.344150 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.507877 s, deltaX: -0.000067 m, approachRate: -0.000131 m/s, posRepo size: 4 2025-10-27T04:14:00.902Z,1761538440.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m. 2025-10-27T04:14:00.903Z,1761538440.903 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:00.924Z,1761538440.924 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.537758 2025-10-27T04:14:00.925Z,1761538440.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.097891 m, nav range: 19.956223 m, bearing: 273.631428 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.738070 deg, new cmd heading: 275.716079 deg. 2025-10-27T04:14:00.939Z,1761538440.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.812153 target range: 21.097891 and range: 21.20 m. 2025-10-27T04:14:01.136Z,1761538441.136 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.749493 2025-10-27T04:14:01.253Z,1761538441.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121899,0.980155,0.156322],[-0.991843,0.114383,0.056243],[0.037246,-0.161903,0.986104]] 2025-10-27T04:14:01.337Z,1761538441.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.500116 s, deltaX: -0.500000 m, approachRate: -0.999768 m/s, rangeRepo size: 4 2025-10-27T04:14:01.343Z,1761538441.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.600300 m, bearing: 273.767636 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 0.500116 s, deltaX: -0.497591 m, approachRate: -0.994951 m/s, posRepo size: 4 2025-10-27T04:14:01.344Z,1761538441.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m. 2025-10-27T04:14:01.346Z,1761538441.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.600300 m, nav range: 19.884483 m, bearing: 273.668124 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.716077 deg, new cmd heading: 275.698800 deg. 2025-10-27T04:14:01.352Z,1761538441.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811852 target range: 20.600300 and range: 20.70 m. 2025-10-27T04:14:01.391Z,1761538441.391 [DAT](INFO): DAT read: Rx Time:04:14:00.1480 2025-10-27T04:14:01.392Z,1761538441.392 [DAT](INFO): Rx dataTimestamp_ set to:1761538441.391375 2025-10-27T04:14:01.393Z,1761538441.393 [DAT](INFO): DAT read: Bearing 92.3, -5.3 (Local) 2025-10-27T04:14:01.394Z,1761538441.394 [DAT](INFO): Local bearing/azimuth received: Bearing 92.3, -5.3 (Local) 2025-10-27T04:14:01.398Z,1761538441.398 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-27T04:14:01.408Z,1761538441.408 [DAT](INFO): DAT read: 04:14:00.1480 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.48,-1.285,-2.955,-0.938,-1.340, PHS= 0.157,-1.570, 0.358, RAW= 155.4, 11.5, CAL= 155.5, 12.7, ROT= 354.5, -12.7 2025-10-27T04:14:01.410Z,1761538441.410 [DAT](INFO): got valid direction response: 04:14:00.1480 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.48,-1.285,-2.955,-0.938,-1.340, PHS= 0.157,-1.570, 0.358, RAW= 155.4, 11.5, CAL= 155.5, 12.7, ROT= 354.5, -12.7 2025-10-27T04:14:01.410Z,1761538441.410 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T04:14:01.413Z,1761538441.413 [DAT](INFO): direction in FSK: [0.971043,-0.093501,0.219846] 2025-10-27T04:14:01.413Z,1761538441.413 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:01.429Z,1761538441.429 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.042267 2025-10-27T04:14:01.640Z,1761538441.640 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.253403 2025-10-27T04:14:01.805Z,1761538441.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122511,0.979934,0.157229],[-0.991745,0.114834,0.057048],[0.037848,-0.162921,0.985913]] 2025-10-27T04:14:01.884Z,1761538441.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.506599 s, deltaX: -0.300001 m, approachRate: -0.592187 m/s, rangeRepo size: 4 2025-10-27T04:14:01.886Z,1761538441.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.301708 m, bearing: 273.684862 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 0.506599 s, deltaX: -0.298592 m, approachRate: -0.589404 m/s, posRepo size: 4 2025-10-27T04:14:01.887Z,1761538441.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T04:14:01.890Z,1761538441.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.301708 m, nav range: 19.554764 m, bearing: 273.679024 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.698810 deg, new cmd heading: 275.678252 deg. 2025-10-27T04:14:01.893Z,1761538441.893 [DAT](INFO): DAT read: Rx Time:04:14:00.6478 2025-10-27T04:14:01.894Z,1761538441.894 [DAT](INFO): Rx dataTimestamp_ set to:1761538441.893010 2025-10-27T04:14:01.896Z,1761538441.896 [DAT](INFO): DAT read: Bearing 91.7, -5.2 (Local) 2025-10-27T04:14:01.897Z,1761538441.897 [DAT](INFO): Local bearing/azimuth received: Bearing 91.7, -5.2 (Local) 2025-10-27T04:14:01.902Z,1761538441.902 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4 2025-10-27T04:14:01.919Z,1761538441.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811493 target range: 20.301708 and range: 20.40 m. 2025-10-27T04:14:01.925Z,1761538441.925 [DAT](INFO): DAT read: 04:14:00.6478 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 496,-0.14, 2.605, 0.916, 2.960, 2.534, PHS= 0.173,-1.574, 0.381, RAW= 155.6, 11.0, CAL= 155.6, 12.1, ROT= 354.4, -12.1 2025-10-27T04:14:01.932Z,1761538441.932 [DAT](INFO): got valid direction response: 04:14:00.6478 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 496,-0.14, 2.605, 0.916, 2.960, 2.534, PHS= 0.173,-1.574, 0.381, RAW= 155.6, 11.0, CAL= 155.6, 12.1, ROT= 354.4, -12.1 2025-10-27T04:14:01.932Z,1761538441.932 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T04:14:01.933Z,1761538441.933 [DAT](INFO): direction in FSK: [0.973117,-0.095415,0.209619] 2025-10-27T04:14:01.934Z,1761538441.934 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:01.950Z,1761538441.950 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.563099 2025-10-27T04:14:02.145Z,1761538442.145 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.758377 2025-10-27T04:14:02.186Z,1761538442.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122372,0.979711,0.158718],[-0.991730,0.114473,0.058027],[0.038681,-0.164506,0.985617]] 2025-10-27T04:14:02.239Z,1761538442.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.501635 s, deltaX: -0.299999 m, approachRate: -0.598043 m/s, rangeRepo size: 4 2025-10-27T04:14:02.241Z,1761538442.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.003155 m, bearing: 273.495461 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 0.501635 s, deltaX: -0.298553 m, approachRate: -0.595161 m/s, posRepo size: 4 2025-10-27T04:14:02.242Z,1761538442.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T04:14:02.248Z,1761538442.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.003155 m, nav range: 19.347425 m, bearing: 273.689739 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.678265 deg, new cmd heading: 275.665046 deg. 2025-10-27T04:14:02.249Z,1761538442.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811263 target range: 20.003155 and range: 20.10 m. 2025-10-27T04:14:02.400Z,1761538442.400 [DAT](INFO): DAT read: Rx Time:04:14:01.1477 2025-10-27T04:14:02.401Z,1761538442.401 [DAT](INFO): Rx dataTimestamp_ set to:1761538442.400511 2025-10-27T04:14:02.404Z,1761538442.404 [DAT](INFO): DAT read: Bearing 93.7, -5.6 (Local) 2025-10-27T04:14:02.405Z,1761538442.405 [DAT](INFO): Local bearing/azimuth received: Bearing 93.7, -5.6 (Local) 2025-10-27T04:14:02.409Z,1761538442.409 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.5 2025-10-27T04:14:02.438Z,1761538442.438 [DAT](INFO): DAT read: 04:14:01.1477 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.01,-1.271,-2.919,-0.927,-1.292, PHS= 0.123,-1.582, 0.321, RAW= 155.4, 12.5, CAL= 155.7, 14.0, ROT= 354.3, -14.0 2025-10-27T04:14:02.448Z,1761538442.448 [DAT](INFO): got valid direction response: 04:14:01.1477 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.01,-1.271,-2.919,-0.927,-1.292, PHS= 0.123,-1.582, 0.321, RAW= 155.4, 12.5, CAL= 155.7, 14.0, ROT= 354.3, -14.0 2025-10-27T04:14:02.448Z,1761538442.448 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T04:14:02.449Z,1761538442.449 [DAT](INFO): direction in FSK: [0.965498,-0.096370,0.241922] 2025-10-27T04:14:02.449Z,1761538442.449 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:02.462Z,1761538442.462 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.075241 2025-10-27T04:14:02.586Z,1761538442.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122230,0.979310,0.161283],[-0.991728,0.114095,0.058809],[0.039191,-0.167137,0.985154]] 2025-10-27T04:14:02.648Z,1761538442.648 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.261730 2025-10-27T04:14:02.682Z,1761538442.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.507501 s, deltaX: -0.100000 m, approachRate: -0.197045 m/s, rangeRepo size: 4 2025-10-27T04:14:02.693Z,1761538442.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.903637 m, bearing: 273.756473 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 0.507501 s, deltaX: -0.099518 m, approachRate: -0.196094 m/s, posRepo size: 4 2025-10-27T04:14:02.694Z,1761538442.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m. 2025-10-27T04:14:02.832Z,1761538442.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.903637 m, nav range: 19.102674 m, bearing: 273.706197 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.665042 deg, new cmd heading: 275.648218 deg. 2025-10-27T04:14:02.833Z,1761538442.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810969 target range: 19.903637 and range: 20.00 m. 2025-10-27T04:14:02.903Z,1761538442.903 [DAT](INFO): DAT read: Rx Time:04:14:01.6474 2025-10-27T04:14:02.904Z,1761538442.904 [DAT](INFO): Rx dataTimestamp_ set to:1761538442.902838 2025-10-27T04:14:02.906Z,1761538442.906 [DAT](INFO): DAT read: Bearing 92.8, -4.7 (Local) 2025-10-27T04:14:02.906Z,1761538442.906 [DAT](INFO): Local bearing/azimuth received: Bearing 92.8, -4.7 (Local) 2025-10-27T04:14:02.911Z,1761538442.911 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.5 2025-10-27T04:14:02.943Z,1761538442.943 [DAT](INFO): DAT read: 04:14:01.6474 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.11,-1.578, 3.048,-1.254,-1.635, PHS= 0.159,-1.556, 0.336, RAW= 154.9, 11.7, CAL= 154.9, 13.0, ROT= 355.1, -13.0 2025-10-27T04:14:02.944Z,1761538442.944 [DAT](INFO): got valid direction response: 04:14:01.6474 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.11,-1.578, 3.048,-1.254,-1.635, PHS= 0.159,-1.556, 0.336, RAW= 154.9, 11.7, CAL= 154.9, 13.0, ROT= 355.1, -13.0 2025-10-27T04:14:02.945Z,1761538442.945 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T04:14:02.946Z,1761538442.946 [DAT](INFO): direction in FSK: [0.970809,-0.083228,0.224951] 2025-10-27T04:14:02.955Z,1761538442.955 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:02.972Z,1761538442.972 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.585102 2025-10-27T04:14:03.152Z,1761538443.152 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.765614 2025-10-27T04:14:03.298Z,1761538443.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.502327 s, deltaX: -0.500000 m, approachRate: -0.995368 m/s, rangeRepo size: 4 2025-10-27T04:14:03.335Z,1761538443.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.406012 m, bearing: 274.378775 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 0.502327 s, deltaX: -0.497625 m, approachRate: -0.990640 m/s, posRepo size: 4 2025-10-27T04:14:03.336Z,1761538443.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m. 2025-10-27T04:14:03.339Z,1761538443.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.406012 m, nav range: 18.752249 m, bearing: 273.763427 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.648212 deg, new cmd heading: 275.625921 deg. 2025-10-27T04:14:03.344Z,1761538443.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810580 target range: 19.406012 and range: 19.50 m. 2025-10-27T04:14:03.406Z,1761538443.406 [DAT](INFO): DAT read: Rx Time:04:14:02.1473 2025-10-27T04:14:03.407Z,1761538443.407 [DAT](INFO): Rx dataTimestamp_ set to:1761538443.406513 2025-10-27T04:14:03.409Z,1761538443.409 [DAT](INFO): DAT read: Bearing 92.9, -5.3 (Local) 2025-10-27T04:14:03.410Z,1761538443.410 [DAT](INFO): Local bearing/azimuth received: Bearing 92.9, -5.3 (Local) 2025-10-27T04:14:03.414Z,1761538443.414 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.5 2025-10-27T04:14:03.435Z,1761538443.435 [DAT](INFO): DAT read: 04:14:02.1473 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.16,-0.646,-2.301,-0.301,-0.690, PHS= 0.146,-1.567, 0.345, RAW= 155.4, 11.8, CAL= 155.5, 13.1, ROT= 354.5, -13.1 2025-10-27T04:14:03.437Z,1761538443.437 [DAT](INFO): got valid direction response: 04:14:02.1473 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.16,-0.646,-2.301,-0.301,-0.690, PHS= 0.146,-1.567, 0.345, RAW= 155.4, 11.8, CAL= 155.5, 13.1, ROT= 354.5, -13.1 2025-10-27T04:14:03.437Z,1761538443.437 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T04:14:03.438Z,1761538443.438 [DAT](INFO): direction in FSK: [0.969492,-0.093352,0.226651] 2025-10-27T04:14:03.438Z,1761538443.438 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:03.461Z,1761538443.461 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.074493 2025-10-27T04:14:03.656Z,1761538443.656 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.269749 2025-10-27T04:14:03.711Z,1761538443.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121246,0.979112,0.163216],[-0.991732,0.112525,0.061691],[0.042037,-0.169347,0.984660]] 2025-10-27T04:14:03.910Z,1761538443.910 [DAT](INFO): DAT read: Rx Time:04:14:02.6470 2025-10-27T04:14:03.911Z,1761538443.911 [DAT](INFO): Rx dataTimestamp_ set to:1761538443.911210 2025-10-27T04:14:03.914Z,1761538443.914 [DAT](INFO): DAT read: Bearing 93.2, -5.4 (Local) 2025-10-27T04:14:03.914Z,1761538443.914 [DAT](INFO): Local bearing/azimuth received: Bearing 93.2, -5.4 (Local) 2025-10-27T04:14:03.918Z,1761538443.918 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.7 2025-10-27T04:14:03.926Z,1761538443.926 [DAT](INFO): DAT read: 04:14:02.6470 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.10,-1.729, 2.904,-1.388,-1.768, PHS= 0.141,-1.565, 0.337, RAW= 155.4, 12.0, CAL= 155.5, 13.3, ROT= 354.5, -13.3 2025-10-27T04:14:03.927Z,1761538443.927 [DAT](INFO): got valid direction response: 04:14:02.6470 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.10,-1.729, 2.904,-1.388,-1.768, PHS= 0.141,-1.565, 0.337, RAW= 155.4, 12.0, CAL= 155.5, 13.3, ROT= 354.5, -13.3 2025-10-27T04:14:03.927Z,1761538443.927 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T04:14:03.928Z,1761538443.928 [DAT](INFO): direction in FSK: [0.968699,-0.093275,0.230050] 2025-10-27T04:14:03.928Z,1761538443.928 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:03.933Z,1761538443.933 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.546211 2025-10-27T04:14:04.070Z,1761538444.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 1.008372 s, deltaX: -0.600000 m, approachRate: -0.595019 m/s, rangeRepo size: 4 2025-10-27T04:14:04.085Z,1761538444.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.808905 m, bearing: 273.806483 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 1.008372 s, deltaX: -0.597107 m, approachRate: -0.592149 m/s, posRepo size: 4 2025-10-27T04:14:04.085Z,1761538444.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.81 m. 2025-10-27T04:14:04.100Z,1761538444.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.808905 m, nav range: 18.257109 m, bearing: 273.761168 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.625918 deg, new cmd heading: 275.595974 deg. 2025-10-27T04:14:04.101Z,1761538444.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.810057 target range: 18.808905 and range: 18.90 m. 2025-10-27T04:14:04.160Z,1761538444.160 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.773720 2025-10-27T04:14:04.413Z,1761538444.413 [DAT](INFO): DAT read: Rx Time:04:14:03.1469 2025-10-27T04:14:04.414Z,1761538444.414 [DAT](INFO): Rx dataTimestamp_ set to:1761538444.413709 2025-10-27T04:14:04.416Z,1761538444.416 [DAT](INFO): DAT read: Bearing 93.6, -5.5 (Local) 2025-10-27T04:14:04.417Z,1761538444.417 [DAT](INFO): Local bearing/azimuth received: Bearing 93.6, -5.5 (Local) 2025-10-27T04:14:04.421Z,1761538444.421 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T04:14:04.427Z,1761538444.427 [DAT](INFO): DAT read: 04:14:03.1469 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.04,-1.312,-2.967,-0.968,-1.344, PHS= 0.133,-1.579, 0.332, RAW= 155.4, 12.2, CAL= 155.6, 13.6, ROT= 354.4, -13.6 2025-10-27T04:14:04.428Z,1761538444.428 [DAT](INFO): got valid direction response: 04:14:03.1469 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.04,-1.312,-2.967,-0.968,-1.344, PHS= 0.133,-1.579, 0.332, RAW= 155.4, 12.2, CAL= 155.6, 13.6, ROT= 354.4, -13.6 2025-10-27T04:14:04.428Z,1761538444.428 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T04:14:04.429Z,1761538444.429 [DAT](INFO): direction in FSK: [0.967322,-0.094847,0.235142] 2025-10-27T04:14:04.429Z,1761538444.429 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:04.433Z,1761538444.433 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.046658 2025-10-27T04:14:04.482Z,1761538444.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120622,0.979122,0.163614],[-0.991729,0.111573,0.063442],[0.043862,-0.169913,0.984482]] 2025-10-27T04:14:04.558Z,1761538444.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.502499 s, deltaX: -0.100000 m, approachRate: -0.199006 m/s, rangeRepo size: 4 2025-10-27T04:14:04.572Z,1761538444.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.709387 m, bearing: 273.731645 deg, lat: 36.779375 deg, lon: -121.859574 deg, deltaT: 0.502499 s, deltaX: -0.099518 m, approachRate: -0.198046 m/s, posRepo size: 4 2025-10-27T04:14:04.573Z,1761538444.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T04:14:04.584Z,1761538444.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.709387 m, nav range: 17.909410 m, bearing: 273.789315 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.595975 deg, new cmd heading: 275.577637 deg. 2025-10-27T04:14:04.585Z,1761538444.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809737 target range: 18.709387 and range: 18.80 m. 2025-10-27T04:14:04.665Z,1761538444.665 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.278450 2025-10-27T04:14:04.919Z,1761538444.919 [DAT](INFO): DAT read: Rx Time:04:14:03.6466 2025-10-27T04:14:04.920Z,1761538444.920 [DAT](INFO): Rx dataTimestamp_ set to:1761538444.919303 2025-10-27T04:14:04.922Z,1761538444.922 [DAT](INFO): DAT read: Bearing 95.6, -6.7 (Local) 2025-10-27T04:14:04.922Z,1761538444.922 [DAT](INFO): Local bearing/azimuth received: Bearing 95.6, -6.7 (Local) 2025-10-27T04:14:04.929Z,1761538444.929 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.6 2025-10-27T04:14:04.934Z,1761538444.934 [DAT](INFO): DAT read: 04:14:03.6466 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500,-0.21,-2.186, 2.464,-1.819,-2.152, PHS= 0.068,-1.622, 0.290, RAW= 156.1, 13.9, CAL= 156.5, 15.7, ROT= 353.5, -15.7 2025-10-27T04:14:04.935Z,1761538444.935 [DAT](INFO): got valid direction response: 04:14:03.6466 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500,-0.21,-2.186, 2.464,-1.819,-2.152, PHS= 0.068,-1.622, 0.290, RAW= 156.1, 13.9, CAL= 156.5, 15.7, ROT= 353.5, -15.7 2025-10-27T04:14:04.955Z,1761538444.955 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T04:14:04.956Z,1761538444.956 [DAT](INFO): direction in FSK: [0.956503,-0.108980,0.270600] 2025-10-27T04:14:04.957Z,1761538444.957 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:04.969Z,1761538444.969 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.582085 2025-10-27T04:14:05.135Z,1761538445.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.505594 s, deltaX: -0.299999 m, approachRate: -0.593360 m/s, rangeRepo size: 4 2025-10-27T04:14:05.145Z,1761538445.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.410872 m, bearing: 273.211491 deg, lat: 36.779375 deg, lon: -121.859574 deg, deltaT: 0.505594 s, deltaX: -0.298515 m, approachRate: -0.590425 m/s, posRepo size: 4 2025-10-27T04:14:05.146Z,1761538445.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m. 2025-10-27T04:14:05.157Z,1761538445.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.410872 m, nav range: 17.567173 m, bearing: 273.756149 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.577642 deg, new cmd heading: 275.555949 deg. 2025-10-27T04:14:05.157Z,1761538445.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809359 target range: 18.410872 and range: 18.50 m. 2025-10-27T04:14:05.168Z,1761538445.168 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.781559 2025-10-27T04:14:05.422Z,1761538445.422 [DAT](INFO): DAT read: Rx Time:04:14:04.1463 2025-10-27T04:14:05.423Z,1761538445.423 [DAT](INFO): Rx dataTimestamp_ set to:1761538445.422117 2025-10-27T04:14:05.425Z,1761538445.425 [DAT](INFO): DAT read: Bearing 97.6, -7.2 (Local) 2025-10-27T04:14:05.425Z,1761538445.425 [DAT](INFO): Local bearing/azimuth received: Bearing 97.6, -7.2 (Local) 2025-10-27T04:14:05.427Z,1761538445.427 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.5 2025-10-27T04:14:05.432Z,1761538445.432 [DAT](INFO): DAT read: 04:14:04.1463 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.40,-1.791, 2.855,-1.422,-1.708, PHS= 0.019,-1.675, 0.242, RAW= 156.1, 15.4, CAL= 156.8, 17.7, ROT= 353.2, -17.7 2025-10-27T04:14:05.433Z,1761538445.433 [DAT](INFO): got valid direction response: 04:14:04.1463 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.40,-1.791, 2.855,-1.422,-1.708, PHS= 0.019,-1.675, 0.242, RAW= 156.1, 15.4, CAL= 156.8, 17.7, ROT= 353.2, -17.7 2025-10-27T04:14:05.433Z,1761538445.433 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T04:14:05.434Z,1761538445.434 [DAT](INFO): direction in FSK: [0.945960,-0.112799,0.304033] 2025-10-27T04:14:05.434Z,1761538445.434 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:05.438Z,1761538445.438 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.051792 2025-10-27T04:14:05.511Z,1761538445.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120423,0.979233,0.163098],[-0.991672,0.111104,0.065136],[0.045662,-0.169584,0.984457]] 2025-10-27T04:14:05.633Z,1761538445.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.502814 s, deltaX: -0.500000 m, approachRate: -0.994403 m/s, rangeRepo size: 4 2025-10-27T04:14:05.664Z,1761538445.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.913280 m, bearing: 273.261716 deg, lat: 36.779374 deg, lon: -121.859573 deg, deltaT: 0.502814 s, deltaX: -0.497591 m, approachRate: -0.989613 m/s, posRepo size: 4 2025-10-27T04:14:05.664Z,1761538445.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.91 m. 2025-10-27T04:14:05.667Z,1761538445.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.913280 m, nav range: 17.119003 m, bearing: 273.699089 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.555950 deg, new cmd heading: 275.537187 deg. 2025-10-27T04:14:05.668Z,1761538445.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809031 target range: 17.913280 and range: 18.00 m. 2025-10-27T04:14:05.672Z,1761538445.672 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.285568 2025-10-27T04:14:05.925Z,1761538445.925 [DAT](INFO): DAT read: Rx Time:04:14:04.6460 2025-10-27T04:14:05.925Z,1761538445.925 [DAT](INFO): Rx dataTimestamp_ set to:1761538445.924964 2025-10-27T04:14:05.927Z,1761538445.927 [DAT](INFO): DAT read: Bearing 97.3, -7.2 (Local) 2025-10-27T04:14:05.927Z,1761538445.927 [DAT](INFO): Local bearing/azimuth received: Bearing 97.3, -7.2 (Local) 2025-10-27T04:14:05.929Z,1761538445.929 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 2025-10-27T04:14:05.934Z,1761538445.934 [DAT](INFO): DAT read: 04:14:04.6460 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.40,-1.503, 3.139,-1.128,-1.428, PHS= 0.027,-1.670, 0.256, RAW= 156.2, 15.1, CAL= 156.9, 17.3, ROT= 353.1, -17.3 2025-10-27T04:14:05.935Z,1761538445.935 [DAT](INFO): got valid direction response: 04:14:04.6460 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.40,-1.503, 3.139,-1.128,-1.428, PHS= 0.027,-1.670, 0.256, RAW= 156.2, 15.1, CAL= 156.9, 17.3, ROT= 353.1, -17.3 2025-10-27T04:14:05.936Z,1761538445.936 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T04:14:05.937Z,1761538445.937 [DAT](INFO): direction in FSK: [0.947846,-0.114702,0.297375] 2025-10-27T04:14:05.937Z,1761538445.937 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:05.941Z,1761538445.941 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.554226 2025-10-27T04:14:05.971Z,1761538445.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120911,0.979221,0.162806],[-0.991584,0.111496,0.065807],[0.046287,-0.169393,0.984461]] 2025-10-27T04:14:06.133Z,1761538446.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.502847 s, deltaX: -0.400000 m, approachRate: -0.795470 m/s, rangeRepo size: 4 2025-10-27T04:14:06.143Z,1761538446.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.515198 m, bearing: 273.110191 deg, lat: 36.779373 deg, lon: -121.859573 deg, deltaT: 0.502847 s, deltaX: -0.398083 m, approachRate: -0.791658 m/s, posRepo size: 4 2025-10-27T04:14:06.144Z,1761538446.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.52 m. 2025-10-27T04:14:06.147Z,1761538446.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.515198 m, nav range: 16.823664 m, bearing: 273.146475 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.537180 deg, new cmd heading: 275.518391 deg. 2025-10-27T04:14:06.160Z,1761538446.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808703 target range: 17.515198 and range: 17.60 m. 2025-10-27T04:14:06.176Z,1761538446.176 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.789558 2025-10-27T04:14:06.429Z,1761538446.429 [DAT](INFO): DAT read: Rx Time:04:14:05.1459 2025-10-27T04:14:06.429Z,1761538446.429 [DAT](INFO): Rx dataTimestamp_ set to:1761538446.428768 2025-10-27T04:14:06.430Z,1761538446.430 [DAT](INFO): DAT read: Bearing 96.7, -6.9 (Local) 2025-10-27T04:14:06.431Z,1761538446.431 [DAT](INFO): Local bearing/azimuth received: Bearing 96.7, -6.9 (Local) 2025-10-27T04:14:06.433Z,1761538446.433 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.5 2025-10-27T04:14:06.437Z,1761538446.437 [DAT](INFO): DAT read: 04:14:05.1459 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.32,-0.001,-1.654, 0.375, 0.056, PHS= 0.046,-1.665, 0.275, RAW= 156.2, 14.5, CAL= 156.8, 16.6, ROT= 353.2, -16.6 2025-10-27T04:14:06.438Z,1761538446.438 [DAT](INFO): got valid direction response: 04:14:05.1459 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.32,-0.001,-1.654, 0.375, 0.056, PHS= 0.046,-1.665, 0.275, RAW= 156.2, 14.5, CAL= 156.8, 16.6, ROT= 353.2, -16.6 2025-10-27T04:14:06.439Z,1761538446.439 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T04:14:06.440Z,1761538446.440 [DAT](INFO): direction in FSK: [0.951581,-0.113469,0.285688] 2025-10-27T04:14:06.440Z,1761538446.440 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:06.444Z,1761538446.444 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.057457 2025-10-27T04:14:06.498Z,1761538446.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503804 s, deltaX: -0.200001 m, approachRate: -0.396981 m/s, rangeRepo size: 4 2025-10-27T04:14:06.509Z,1761538446.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.316160 m, bearing: 273.080968 deg, lat: 36.779373 deg, lon: -121.859569 deg, deltaT: 0.503804 s, deltaX: -0.199038 m, approachRate: -0.395069 m/s, posRepo size: 4 2025-10-27T04:14:06.509Z,1761538446.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.32 m. 2025-10-27T04:14:06.520Z,1761538446.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.316160 m, nav range: 16.257494 m, bearing: 273.172717 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.518384 deg, new cmd heading: 275.504628 deg. 2025-10-27T04:14:06.521Z,1761538446.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808463 target range: 17.316160 and range: 17.40 m. 2025-10-27T04:14:06.680Z,1761538446.680 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.294067 2025-10-27T04:14:06.933Z,1761538446.933 [DAT](INFO): DAT read: Rx Time:04:14:05.6457 2025-10-27T04:14:06.933Z,1761538446.933 [DAT](INFO): Rx dataTimestamp_ set to:1761538446.932832 2025-10-27T04:14:06.934Z,1761538446.934 [DAT](INFO): DAT read: Bearing 97.5, -6.9 (Local) 2025-10-27T04:14:06.935Z,1761538446.935 [DAT](INFO): Local bearing/azimuth received: Bearing 97.5, -6.9 (Local) 2025-10-27T04:14:06.937Z,1761538446.937 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 2025-10-27T04:14:06.941Z,1761538446.941 [DAT](INFO): DAT read: 04:14:05.6457 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.48,-1.760, 2.877,-1.390,-1.689, PHS= 0.031,-1.673, 0.254, RAW= 156.1, 15.0, CAL= 156.7, 17.2, ROT= 353.3, -17.2 2025-10-27T04:14:06.943Z,1761538446.943 [DAT](INFO): got valid direction response: 04:14:05.6457 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.48,-1.760, 2.877,-1.390,-1.689, PHS= 0.031,-1.673, 0.254, RAW= 156.1, 15.0, CAL= 156.7, 17.2, ROT= 353.3, -17.2 2025-10-27T04:14:06.943Z,1761538446.943 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T04:14:06.944Z,1761538446.944 [DAT](INFO): direction in FSK: [0.948754,-0.111453,0.295708] 2025-10-27T04:14:06.944Z,1761538446.944 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:06.948Z,1761538446.948 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.561512 2025-10-27T04:14:07.025Z,1761538447.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504064 s, deltaX: -0.400000 m, approachRate: -0.793549 m/s, rangeRepo size: 4 2025-10-27T04:14:07.031Z,1761538447.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.918085 m, bearing: 273.292725 deg, lat: 36.779373 deg, lon: -121.859568 deg, deltaT: 0.504064 s, deltaX: -0.398075 m, approachRate: -0.789731 m/s, posRepo size: 4 2025-10-27T04:14:07.032Z,1761538447.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.92 m. 2025-10-27T04:14:07.034Z,1761538447.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.918085 m, nav range: 15.937554 m, bearing: 273.125060 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.504641 deg, new cmd heading: 275.484843 deg. 2025-10-27T04:14:07.048Z,1761538447.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.808117 target range: 16.918085 and range: 17.00 m. 2025-10-27T04:14:07.184Z,1761538447.184 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.797710 2025-10-27T04:14:07.388Z,1761538447.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125135,0.979264,0.159322],[-0.990980,0.115605,0.067779],[0.047955,-0.166367,0.984897]] 2025-10-27T04:14:07.437Z,1761538447.437 [DAT](INFO): DAT read: Rx Time:04:14:06.1457 2025-10-27T04:14:07.437Z,1761538447.437 [DAT](INFO): Rx dataTimestamp_ set to:1761538447.436810 2025-10-27T04:14:07.438Z,1761538447.438 [DAT](INFO): DAT read: Bearing 97.2, -7.1 (Local) 2025-10-27T04:14:07.439Z,1761538447.439 [DAT](INFO): Local bearing/azimuth received: Bearing 97.2, -7.1 (Local) 2025-10-27T04:14:07.441Z,1761538447.441 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 2025-10-27T04:14:07.446Z,1761538447.446 [DAT](INFO): DAT read: 04:14:06.1457 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.19,-2.878, 1.752,-2.496,-2.812, PHS= 0.035,-1.674, 0.272, RAW= 156.4, 14.7, CAL= 157.0, 16.9, ROT= 353.0, -16.9 2025-10-27T04:14:07.447Z,1761538447.447 [DAT](INFO): got valid direction response: 04:14:06.1457 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.19,-2.878, 1.752,-2.496,-2.812, PHS= 0.035,-1.674, 0.272, RAW= 156.4, 14.7, CAL= 157.0, 16.9, ROT= 353.0, -16.9 2025-10-27T04:14:07.447Z,1761538447.447 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T04:14:07.448Z,1761538447.448 [DAT](INFO): direction in FSK: [0.949682,-0.116606,0.290702] 2025-10-27T04:14:07.448Z,1761538447.448 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:07.452Z,1761538447.452 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.065708 2025-10-27T04:14:07.512Z,1761538447.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503978 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:07.514Z,1761538447.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.918085 m, bearing: 273.120385 deg, lat: 36.779373 deg, lon: -121.859568 deg, deltaT: 0.503978 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:14:07.514Z,1761538447.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.92 m. 2025-10-27T04:14:07.526Z,1761538447.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.918085 m, nav range: 15.681116 m, bearing: 273.076376 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.484834 deg, new cmd heading: 275.466821 deg. 2025-10-27T04:14:07.526Z,1761538447.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807803 target range: 16.918085 and range: 17.00 m. 2025-10-27T04:14:07.689Z,1761538447.689 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.301956 2025-10-27T04:14:07.924Z,1761538447.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126531,0.978840,0.160820],[-0.990798,0.116856,0.068296],[0.048058,-0.167982,0.984618]] 2025-10-27T04:14:07.941Z,1761538447.941 [DAT](INFO): DAT read: Rx Time:04:14:06.6454 2025-10-27T04:14:07.941Z,1761538447.941 [DAT](INFO): Rx dataTimestamp_ set to:1761538447.940733 2025-10-27T04:14:07.942Z,1761538447.942 [DAT](INFO): DAT read: Bearing 98.1, -7.5 (Local) 2025-10-27T04:14:07.943Z,1761538447.943 [DAT](INFO): Local bearing/azimuth received: Bearing 98.1, -7.5 (Local) 2025-10-27T04:14:07.945Z,1761538447.945 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-27T04:14:07.950Z,1761538447.950 [DAT](INFO): DAT read: 04:14:06.6454 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.00,-2.980, 1.666,-2.594,-2.889, PHS= 0.010,-1.684, 0.251, RAW= 156.5, 15.4, CAL= 157.3, 17.7, ROT= 352.7, -17.7 2025-10-27T04:14:07.951Z,1761538447.951 [DAT](INFO): got valid direction response: 04:14:06.6454 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.00,-2.980, 1.666,-2.594,-2.889, PHS= 0.010,-1.684, 0.251, RAW= 156.5, 15.4, CAL= 157.3, 17.7, ROT= 352.7, -17.7 2025-10-27T04:14:07.952Z,1761538447.952 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T04:14:07.952Z,1761538447.952 [DAT](INFO): direction in FSK: [0.944940,-0.121049,0.304033] 2025-10-27T04:14:07.953Z,1761538447.953 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:07.957Z,1761538447.957 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.570110 2025-10-27T04:14:08.104Z,1761538448.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503923 s, deltaX: -0.500000 m, approachRate: -0.992215 m/s, rangeRepo size: 4 2025-10-27T04:14:08.106Z,1761538448.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.420431 m, bearing: 273.076895 deg, lat: 36.779373 deg, lon: -121.859568 deg, deltaT: 0.503923 s, deltaX: -0.497654 m, approachRate: -0.987560 m/s, posRepo size: 4 2025-10-27T04:14:08.107Z,1761538448.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.42 m. 2025-10-27T04:14:08.114Z,1761538448.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.420431 m, nav range: 15.344849 m, bearing: 273.065313 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.466829 deg, new cmd heading: 275.444561 deg. 2025-10-27T04:14:08.115Z,1761538448.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807415 target range: 16.420431 and range: 16.50 m. 2025-10-27T04:14:08.193Z,1761538448.193 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.806870 2025-10-27T04:14:08.379Z,1761538448.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128262,0.978634,0.160701],[-0.990584,0.118595,0.068404],[0.047884,-0.167962,0.984630]] 2025-10-27T04:14:08.444Z,1761538448.444 [DAT](INFO): DAT read: Rx Time:04:14:07.1452 2025-10-27T04:14:08.445Z,1761538448.445 [DAT](INFO): Rx dataTimestamp_ set to:1761538448.444674 2025-10-27T04:14:08.446Z,1761538448.446 [DAT](INFO): DAT read: Bearing 97.1, -7.4 (Local) 2025-10-27T04:14:08.447Z,1761538448.447 [DAT](INFO): Local bearing/azimuth received: Bearing 97.1, -7.4 (Local) 2025-10-27T04:14:08.449Z,1761538448.449 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4 2025-10-27T04:14:08.453Z,1761538448.453 [DAT](INFO): DAT read: 04:14:07.1452 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.45, 2.446, 0.800, 2.844, 2.512, PHS= 0.036,-1.667, 0.288, RAW= 156.8, 14.5, CAL= 157.4, 16.5, ROT= 352.6, -16.5 2025-10-27T04:14:08.454Z,1761538448.454 [DAT](INFO): got valid direction response: 04:14:07.1452 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.45, 2.446, 0.800, 2.844, 2.512, PHS= 0.036,-1.667, 0.288, RAW= 156.8, 14.5, CAL= 157.4, 16.5, ROT= 352.6, -16.5 2025-10-27T04:14:08.455Z,1761538448.455 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T04:14:08.456Z,1761538448.456 [DAT](INFO): direction in FSK: [0.950834,-0.123491,0.284015] 2025-10-27T04:14:08.456Z,1761538448.456 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:08.460Z,1761538448.460 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.073364 2025-10-27T04:14:08.493Z,1761538448.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503941 s, deltaX: -0.299999 m, approachRate: -0.595306 m/s, rangeRepo size: 4 2025-10-27T04:14:08.503Z,1761538448.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.121880 m, bearing: 272.855667 deg, lat: 36.779373 deg, lon: -121.859567 deg, deltaT: 0.503941 s, deltaX: -0.298552 m, approachRate: -0.592434 m/s, posRepo size: 4 2025-10-27T04:14:08.504Z,1761538448.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.12 m. 2025-10-27T04:14:08.506Z,1761538448.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.121880 m, nav range: 15.128824 m, bearing: 273.022272 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.444563 deg, new cmd heading: 275.429617 deg. 2025-10-27T04:14:08.516Z,1761538448.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807154 target range: 16.121880 and range: 16.20 m. 2025-10-27T04:14:08.697Z,1761538448.697 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.311035 2025-10-27T04:14:08.897Z,1761538448.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132736,0.978103,0.160297],[-0.990022,0.123120,0.068541],[0.047304,-0.167796,0.984686]] 2025-10-27T04:14:08.949Z,1761538448.949 [DAT](INFO): DAT read: Rx Time:04:14:07.6450 2025-10-27T04:14:08.949Z,1761538448.949 [DAT](INFO): Rx dataTimestamp_ set to:1761538448.948791 2025-10-27T04:14:08.950Z,1761538448.950 [DAT](INFO): DAT read: Bearing 97.4, -7.8 (Local) 2025-10-27T04:14:08.951Z,1761538448.951 [DAT](INFO): Local bearing/azimuth received: Bearing 97.4, -7.8 (Local) 2025-10-27T04:14:08.953Z,1761538448.953 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 2025-10-27T04:14:08.957Z,1761538448.957 [DAT](INFO): DAT read: 04:14:07.6450 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.00, 0.002,-1.627, 0.412, 0.083, PHS= 0.021,-1.665, 0.285, RAW= 157.2, 14.7, CAL= 157.8, 16.9, ROT= 352.2, -16.9 2025-10-27T04:14:08.958Z,1761538448.958 [DAT](INFO): got valid direction response: 04:14:07.6450 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.00, 0.002,-1.627, 0.412, 0.083, PHS= 0.021,-1.665, 0.285, RAW= 157.2, 14.7, CAL= 157.8, 16.9, ROT= 352.2, -16.9 2025-10-27T04:14:08.959Z,1761538448.959 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T04:14:08.960Z,1761538448.960 [DAT](INFO): direction in FSK: [0.947961,-0.129854,0.290702] 2025-10-27T04:14:08.960Z,1761538448.960 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:08.964Z,1761538448.964 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.577450 2025-10-27T04:14:09.064Z,1761538449.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504117 s, deltaX: -0.300001 m, approachRate: -0.595102 m/s, rangeRepo size: 4 2025-10-27T04:14:09.066Z,1761538449.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.823390 m, bearing: 272.782171 deg, lat: 36.779373 deg, lon: -121.859567 deg, deltaT: 0.504117 s, deltaX: -0.298490 m, approachRate: -0.592104 m/s, posRepo size: 4 2025-10-27T04:14:09.066Z,1761538449.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m. 2025-10-27T04:14:09.073Z,1761538449.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.823390 m, nav range: 14.824459 m, bearing: 272.961776 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 275.429619 deg, new cmd heading: 275.408456 deg. 2025-10-27T04:14:09.074Z,1761538449.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806784 target range: 15.823390 and range: 15.90 m. 2025-10-27T04:14:09.200Z,1761538449.200 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.813637 2025-10-27T04:14:09.347Z,1761538449.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134475,0.977935,0.159873],[-0.989795,0.124886,0.068631],[0.047151,-0.167470,0.984749]] 2025-10-27T04:14:09.434Z,1761538449.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:09.449Z,1761538449.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m. 2025-10-27T04:14:09.453Z,1761538449.453 [DAT](INFO): DAT read: Rx Time:04:14:08.1449 2025-10-27T04:14:09.453Z,1761538449.453 [DAT](INFO): Rx dataTimestamp_ set to:1761538449.452904 2025-10-27T04:14:09.454Z,1761538449.454 [DAT](INFO): DAT read: Bearing 96.6, -7.4 (Local) 2025-10-27T04:14:09.455Z,1761538449.455 [DAT](INFO): Local bearing/azimuth received: Bearing 96.6, -7.4 (Local) 2025-10-27T04:14:09.457Z,1761538449.457 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 2025-10-27T04:14:09.462Z,1761538449.462 [DAT](INFO): DAT read: 04:14:08.1449 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.33,-0.683,-2.323,-0.277,-0.629, PHS= 0.048,-1.650, 0.308, RAW= 157.0, 14.0, CAL= 157.6, 15.9, ROT= 352.4, -15.9 2025-10-27T04:14:09.463Z,1761538449.463 [DAT](INFO): got valid direction response: 04:14:08.1449 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.33,-0.683,-2.323,-0.277,-0.629, PHS= 0.048,-1.650, 0.308, RAW= 157.0, 14.0, CAL= 157.6, 15.9, ROT= 352.4, -15.9 2025-10-27T04:14:09.463Z,1761538449.463 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T04:14:09.464Z,1761538449.464 [DAT](INFO): direction in FSK: [0.953293,-0.127196,0.273959] 2025-10-27T04:14:09.465Z,1761538449.465 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:09.474Z,1761538449.474 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.087955 2025-10-27T04:14:09.476Z,1761538449.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.823390 m, nav range: 14.639461 m, bearing: 272.915197 deg, approach rate: -0.469493 m/s, LOS rate: -0.119703 deg/s, cmd heading: 275.408445 deg, new cmd heading: 275.266942 deg. 2025-10-27T04:14:09.477Z,1761538449.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804315 target range: 15.823390 and range: 15.90 m. 2025-10-27T04:14:09.705Z,1761538449.705 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.318569 2025-10-27T04:14:09.943Z,1761538449.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136207,0.977812,0.159158],[-0.989571,0.126686,0.068555],[0.046871,-0.166835,0.984870]] 2025-10-27T04:14:09.957Z,1761538449.957 [DAT](INFO): DAT read: Rx Time:04:14:08.6447 2025-10-27T04:14:09.957Z,1761538449.957 [DAT](INFO): Rx dataTimestamp_ set to:1761538449.957107 2025-10-27T04:14:09.959Z,1761538449.959 [DAT](INFO): DAT read: Bearing 94.0, -6.5 (Local) 2025-10-27T04:14:09.959Z,1761538449.959 [DAT](INFO): Local bearing/azimuth received: Bearing 94.0, -6.5 (Local) 2025-10-27T04:14:09.961Z,1761538449.961 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 2025-10-27T04:14:09.966Z,1761538449.966 [DAT](INFO): DAT read: 04:14:08.6447 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.21,-0.716,-2.345,-0.316,-0.731, PHS= 0.117,-1.569, 0.371, RAW= 156.9, 11.8, CAL= 157.1, 13.2, ROT= 352.9, -13.2 2025-10-27T04:14:09.967Z,1761538449.967 [DAT](INFO): got valid direction response: 04:14:08.6447 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.21,-0.716,-2.345,-0.316,-0.731, PHS= 0.117,-1.569, 0.371, RAW= 156.9, 11.8, CAL= 157.1, 13.2, ROT= 352.9, -13.2 2025-10-27T04:14:09.968Z,1761538449.968 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T04:14:09.969Z,1761538449.969 [DAT](INFO): direction in FSK: [0.966113,-0.120336,0.228351] 2025-10-27T04:14:09.969Z,1761538449.969 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:09.973Z,1761538449.973 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.586243 2025-10-27T04:14:10.090Z,1761538450.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 1.008316 s, deltaX: -0.400000 m, approachRate: -0.396701 m/s, rangeRepo size: 4 2025-10-27T04:14:10.105Z,1761538450.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.425266 m, bearing: 273.011191 deg, lat: 36.779373 deg, lon: -121.859567 deg, deltaT: 1.008316 s, deltaX: -0.398124 m, approachRate: -0.394840 m/s, posRepo size: 4 2025-10-27T04:14:10.106Z,1761538450.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m. 2025-10-27T04:14:10.117Z,1761538450.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.425266 m, nav range: 14.379604 m, bearing: 272.850235 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 275.266951 deg, new cmd heading: 275.036881 deg. 2025-10-27T04:14:10.118Z,1761538450.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.800299 target range: 15.425266 and range: 15.50 m. 2025-10-27T04:14:10.208Z,1761538450.208 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.821911 2025-10-27T04:14:10.458Z,1761538450.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139066,0.976965,0.161865],[-0.989217,0.129468,0.068460],[0.045926,-0.169640,0.984435]] 2025-10-27T04:14:10.461Z,1761538450.461 [DAT](INFO): DAT read: Rx Time:04:14:09.1447 2025-10-27T04:14:10.461Z,1761538450.461 [DAT](INFO): Rx dataTimestamp_ set to:1761538450.460721 2025-10-27T04:14:10.462Z,1761538450.462 [DAT](INFO): DAT read: Bearing 94.2, -5.3 (Local) 2025-10-27T04:14:10.463Z,1761538450.463 [DAT](INFO): Local bearing/azimuth received: Bearing 94.2, -5.3 (Local) 2025-10-27T04:14:10.465Z,1761538450.465 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 2025-10-27T04:14:10.469Z,1761538450.469 [DAT](INFO): DAT read: 04:14:09.1447 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.05,-0.954,-2.824,-0.573,-1.009, PHS= 0.157,-1.770, 0.392, RAW= 155.7, 11.9, CAL= 155.8, 13.2, ROT= 354.2, -13.2 2025-10-27T04:14:10.470Z,1761538450.470 [DAT](INFO): got valid direction response: 04:14:09.1447 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.05,-0.954,-2.824,-0.573,-1.009, PHS= 0.157,-1.770, 0.392, RAW= 155.7, 11.9, CAL= 155.8, 13.2, ROT= 354.2, -13.2 2025-10-27T04:14:10.471Z,1761538450.471 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T04:14:10.472Z,1761538450.472 [DAT](INFO): direction in FSK: [0.968595,-0.098386,0.228351] 2025-10-27T04:14:10.472Z,1761538450.472 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:10.476Z,1761538450.476 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.089417 2025-10-27T04:14:10.588Z,1761538450.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503614 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:10.590Z,1761538450.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.425266 m, bearing: 274.521514 deg, lat: 36.779373 deg, lon: -121.859567 deg, deltaT: 0.503614 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:14:10.607Z,1761538450.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m. 2025-10-27T04:14:10.610Z,1761538450.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.425266 m, nav range: 14.185623 m, bearing: 272.806218 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 275.036883 deg, new cmd heading: 274.857889 deg. 2025-10-27T04:14:10.627Z,1761538450.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797175 target range: 15.425266 and range: 15.50 m. 2025-10-27T04:14:10.713Z,1761538450.713 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.326042 2025-10-27T04:14:10.965Z,1761538450.965 [DAT](INFO): DAT read: Rx Time:04:14:09.6444 2025-10-27T04:14:10.965Z,1761538450.965 [DAT](INFO): Rx dataTimestamp_ set to:1761538450.964745 2025-10-27T04:14:10.966Z,1761538450.966 [DAT](INFO): DAT read: Bearing 93.6, -6.9 (Local) 2025-10-27T04:14:10.967Z,1761538450.967 [DAT](INFO): Local bearing/azimuth received: Bearing 93.6, -6.9 (Local) 2025-10-27T04:14:10.969Z,1761538450.969 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.3 2025-10-27T04:14:10.973Z,1761538450.973 [DAT](INFO): DAT read: 04:14:09.6444 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.35,-2.563, 2.091,-2.145,-2.578, PHS= 0.118,-1.569, 0.389, RAW= 157.3, 11.6, CAL= 157.5, 12.8, ROT= 352.5, -12.8 2025-10-27T04:14:10.974Z,1761538450.974 [DAT](INFO): got valid direction response: 04:14:09.6444 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.35,-2.563, 2.091,-2.145,-2.578, PHS= 0.118,-1.569, 0.389, RAW= 157.3, 11.6, CAL= 157.5, 12.8, ROT= 352.5, -12.8 2025-10-27T04:14:10.975Z,1761538450.975 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T04:14:10.976Z,1761538450.976 [DAT](INFO): direction in FSK: [0.966807,-0.127283,0.221548] 2025-10-27T04:14:10.976Z,1761538450.976 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:10.980Z,1761538450.980 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.593479 2025-10-27T04:14:11.129Z,1761538451.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504024 s, deltaX: -0.500000 m, approachRate: -0.992016 m/s, rangeRepo size: 4 2025-10-27T04:14:11.139Z,1761538451.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.927739 m, bearing: 272.747577 deg, lat: 36.779373 deg, lon: -121.859571 deg, deltaT: 0.504024 s, deltaX: -0.497527 m, approachRate: -0.987110 m/s, posRepo size: 4 2025-10-27T04:14:11.140Z,1761538451.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.93 m. 2025-10-27T04:14:11.143Z,1761538451.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.927739 m, nav range: 14.295578 m, bearing: 272.750910 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 274.857877 deg, new cmd heading: 274.663767 deg. 2025-10-27T04:14:11.152Z,1761538451.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793787 target range: 14.927739 and range: 15.00 m. 2025-10-27T04:14:11.216Z,1761538451.216 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.829746 2025-10-27T04:14:11.469Z,1761538451.469 [DAT](INFO): DAT read: Rx Time:04:14:10.1444 2025-10-27T04:14:11.469Z,1761538451.469 [DAT](INFO): Rx dataTimestamp_ set to:1761538451.468801 2025-10-27T04:14:11.470Z,1761538451.470 [DAT](INFO): DAT read: Bearing 96.6, -7.6 (Local) 2025-10-27T04:14:11.471Z,1761538451.471 [DAT](INFO): Local bearing/azimuth received: Bearing 96.6, -7.6 (Local) 2025-10-27T04:14:11.473Z,1761538451.473 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-27T04:14:11.477Z,1761538451.477 [DAT](INFO): DAT read: 04:14:10.1444 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.16, 1.419,-0.218, 1.831, 1.475, PHS= 0.045,-1.649, 0.312, RAW= 157.2, 13.9, CAL= 157.7, 15.9, ROT= 352.3, -15.9 2025-10-27T04:14:11.479Z,1761538451.479 [DAT](INFO): got valid direction response: 04:14:10.1444 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.16, 1.419,-0.218, 1.831, 1.475, PHS= 0.045,-1.649, 0.312, RAW= 157.2, 13.9, CAL= 157.7, 15.9, ROT= 352.3, -15.9 2025-10-27T04:14:11.479Z,1761538451.479 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T04:14:11.480Z,1761538451.480 [DAT](INFO): direction in FSK: [0.953069,-0.128860,0.273959] 2025-10-27T04:14:11.480Z,1761538451.480 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:11.484Z,1761538451.484 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.097492 2025-10-27T04:14:11.508Z,1761538451.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140252,0.975758,0.168007],[-0.989074,0.130292,0.068964],[0.045402,-0.175844,0.983370]] 2025-10-27T04:14:11.576Z,1761538451.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504056 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:11.578Z,1761538451.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.927739 m, bearing: 273.283544 deg, lat: 36.779374 deg, lon: -121.859571 deg, deltaT: 0.504056 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:14:11.587Z,1761538451.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.93 m. 2025-10-27T04:14:11.600Z,1761538451.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.927739 m, nav range: 14.094148 m, bearing: 272.860759 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 274.663763 deg, new cmd heading: 274.506217 deg. 2025-10-27T04:14:11.601Z,1761538451.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791037 target range: 14.927739 and range: 15.00 m. 2025-10-27T04:14:11.721Z,1761538451.721 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.334641 2025-10-27T04:14:11.973Z,1761538451.973 [DAT](INFO): DAT read: Rx Time:04:14:10.6442 2025-10-27T04:14:11.973Z,1761538451.973 [DAT](INFO): Rx dataTimestamp_ set to:1761538451.972809 2025-10-27T04:14:11.974Z,1761538451.974 [DAT](INFO): DAT read: Bearing 94.5, -7.1 (Local) 2025-10-27T04:14:11.975Z,1761538451.975 [DAT](INFO): Local bearing/azimuth received: Bearing 94.5, -7.1 (Local) 2025-10-27T04:14:11.977Z,1761538451.977 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 2025-10-27T04:14:11.982Z,1761538451.982 [DAT](INFO): DAT read: 04:14:10.6442 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.10,-1.613, 3.046,-1.199,-1.604, PHS= 0.093,-1.589, 0.361, RAW= 157.3, 12.4, CAL= 157.6, 13.9, ROT= 352.4, -13.9 2025-10-27T04:14:11.983Z,1761538451.983 [DAT](INFO): got valid direction response: 04:14:10.6442 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.10,-1.613, 3.046,-1.199,-1.604, PHS= 0.093,-1.589, 0.361, RAW= 157.3, 12.4, CAL= 157.6, 13.9, ROT= 352.4, -13.9 2025-10-27T04:14:11.983Z,1761538451.983 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T04:14:11.984Z,1761538451.984 [DAT](INFO): direction in FSK: [0.962189,-0.128383,0.240228] 2025-10-27T04:14:11.985Z,1761538451.985 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:11.988Z,1761538451.988 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.601990 2025-10-27T04:14:12.015Z,1761538452.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138943,0.975035,0.173209],[-0.989242,0.128571,0.069786],[0.045774,-0.181042,0.982410]] 2025-10-27T04:14:12.157Z,1761538452.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504008 s, deltaX: -0.300000 m, approachRate: -0.595229 m/s, rangeRepo size: 4 2025-10-27T04:14:12.167Z,1761538452.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.629206 m, bearing: 273.015070 deg, lat: 36.779374 deg, lon: -121.859572 deg, deltaT: 0.504008 s, deltaX: -0.298533 m, approachRate: -0.592319 m/s, posRepo size: 4 2025-10-27T04:14:12.168Z,1761538452.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T04:14:12.171Z,1761538452.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.629206 m, nav range: 13.828406 m, bearing: 273.039504 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 274.506204 deg, new cmd heading: 274.294597 deg. 2025-10-27T04:14:12.180Z,1761538452.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787344 target range: 14.629206 and range: 14.70 m. 2025-10-27T04:14:12.224Z,1761538452.224 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.837540 2025-10-27T04:14:12.478Z,1761538452.478 [DAT](INFO): DAT read: Rx Time:04:14:11.1440 2025-10-27T04:14:12.478Z,1761538452.478 [DAT](INFO): Rx dataTimestamp_ set to:1761538452.478144 2025-10-27T04:14:12.481Z,1761538452.481 [DAT](INFO): DAT read: Bearing 93.3, -6.4 (Local) 2025-10-27T04:14:12.482Z,1761538452.482 [DAT](INFO): Local bearing/azimuth received: Bearing 93.3, -6.4 (Local) 2025-10-27T04:14:12.485Z,1761538452.485 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 2025-10-27T04:14:12.490Z,1761538452.490 [DAT](INFO): DAT read: 04:14:11.1440 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.47,-0.282,-1.909, 0.116,-0.312, PHS= 0.132,-1.552, 0.384, RAW= 156.9, 11.4, CAL= 157.0, 12.6, ROT= 353.0, -12.6 2025-10-27T04:14:12.491Z,1761538452.491 [DAT](INFO): got valid direction response: 04:14:11.1440 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.47,-0.282,-1.909, 0.116,-0.312, PHS= 0.132,-1.552, 0.384, RAW= 156.9, 11.4, CAL= 157.0, 12.6, ROT= 353.0, -12.6 2025-10-27T04:14:12.492Z,1761538452.492 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T04:14:12.493Z,1761538452.493 [DAT](INFO): direction in FSK: [0.968642,-0.118934,0.218143] 2025-10-27T04:14:12.493Z,1761538452.493 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:12.497Z,1761538452.497 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.110252 2025-10-27T04:14:12.559Z,1761538452.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137454,0.974879,0.175265],[-0.989433,0.126894,0.070148],[0.046146,-0.183055,0.982019]] 2025-10-27T04:14:12.611Z,1761538452.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.505335 s, deltaX: -0.300000 m, approachRate: -0.593666 m/s, rangeRepo size: 4 2025-10-27T04:14:12.613Z,1761538452.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.330650 m, bearing: 273.310747 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 0.505335 s, deltaX: -0.298555 m, approachRate: -0.590807 m/s, posRepo size: 4 2025-10-27T04:14:12.614Z,1761538452.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.33 m. 2025-10-27T04:14:12.629Z,1761538452.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.330650 m, nav range: 13.698955 m, bearing: 273.211817 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 274.294605 deg, new cmd heading: 274.132959 deg. 2025-10-27T04:14:12.630Z,1761538452.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784523 target range: 14.330650 and range: 14.40 m. 2025-10-27T04:14:12.729Z,1761538452.729 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.342239 2025-10-27T04:14:12.966Z,1761538452.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135733,0.974496,0.178701],[-0.989654,0.124895,0.070612],[0.046492,-0.186436,0.981366]] 2025-10-27T04:14:12.981Z,1761538452.981 [DAT](INFO): DAT read: Rx Time:04:14:11.6438 2025-10-27T04:14:12.981Z,1761538452.981 [DAT](INFO): Rx dataTimestamp_ set to:1761538452.980705 2025-10-27T04:14:12.982Z,1761538452.982 [DAT](INFO): DAT read: Bearing 96.7, -7.7 (Local) 2025-10-27T04:14:12.983Z,1761538452.983 [DAT](INFO): Local bearing/azimuth received: Bearing 96.7, -7.7 (Local) 2025-10-27T04:14:12.985Z,1761538452.985 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 2025-10-27T04:14:12.989Z,1761538452.989 [DAT](INFO): DAT read: 04:14:11.6438 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.01,-1.503,-3.128,-1.093,-1.438, PHS= 0.037,-1.645, 0.301, RAW= 157.2, 14.2, CAL= 157.8, 16.2, ROT= 352.2, -16.2 2025-10-27T04:14:12.991Z,1761538452.991 [DAT](INFO): got valid direction response: 04:14:11.6438 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.01,-1.503,-3.128,-1.093,-1.438, PHS= 0.037,-1.645, 0.301, RAW= 157.2, 14.2, CAL= 157.8, 16.2, ROT= 352.2, -16.2 2025-10-27T04:14:12.991Z,1761538452.991 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T04:14:12.992Z,1761538452.992 [DAT](INFO): direction in FSK: [0.951409,-0.130327,0.278991] 2025-10-27T04:14:12.993Z,1761538452.993 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:12.996Z,1761538452.996 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.609947 2025-10-27T04:14:13.108Z,1761538453.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.502561 s, deltaX: -0.299999 m, approachRate: -0.596941 m/s, rangeRepo size: 4 2025-10-27T04:14:13.110Z,1761538453.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.031984 m, bearing: 273.172018 deg, lat: 36.779374 deg, lon: -121.859572 deg, deltaT: 0.502561 s, deltaX: -0.298666 m, approachRate: -0.594288 m/s, posRepo size: 4 2025-10-27T04:14:13.115Z,1761538453.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T04:14:13.118Z,1761538453.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.031984 m, nav range: 13.308532 m, bearing: 273.142399 deg, approach rate: 0.000000 m/s, LOS rate: -0.119703 deg/s, cmd heading: 274.132948 deg, new cmd heading: 273.952930 deg. 2025-10-27T04:14:13.127Z,1761538453.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781381 target range: 14.031984 and range: 14.10 m. 2025-10-27T04:14:13.232Z,1761538453.232 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.845638 2025-10-27T04:14:13.448Z,1761538453.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133426,0.974546,0.180159],[-0.989942,0.122426,0.070904],[0.047043,-0.187808,0.981079]] 2025-10-27T04:14:13.482Z,1761538453.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:13.485Z,1761538453.485 [DAT](INFO): DAT read: Rx Time:04:14:12.1437 2025-10-27T04:14:13.485Z,1761538453.485 [DAT](INFO): Rx dataTimestamp_ set to:1761538453.484795 2025-10-27T04:14:13.486Z,1761538453.486 [DAT](INFO): DAT read: Bearing 96.7, -7.6 (Local) 2025-10-27T04:14:13.487Z,1761538453.487 [DAT](INFO): Local bearing/azimuth received: Bearing 96.7, -7.6 (Local) 2025-10-27T04:14:13.489Z,1761538453.489 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 2025-10-27T04:14:13.493Z,1761538453.493 [DAT](INFO): DAT read: 04:14:12.1437 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502, 0.43, 1.029,-0.604, 1.431, 1.094, PHS= 0.037,-1.654, 0.293, RAW= 157.0, 14.3, CAL= 157.5, 16.4, ROT= 352.5, -16.4 2025-10-27T04:14:13.495Z,1761538453.495 [DAT](INFO): got valid direction response: 04:14:12.1437 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502, 0.43, 1.029,-0.604, 1.431, 1.094, PHS= 0.037,-1.654, 0.293, RAW= 157.0, 14.3, CAL= 157.5, 16.4, ROT= 352.5, -16.4 2025-10-27T04:14:13.495Z,1761538453.495 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T04:14:13.496Z,1761538453.496 [DAT](INFO): direction in FSK: [0.951107,-0.125216,0.282341] 2025-10-27T04:14:13.496Z,1761538453.496 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:13.504Z,1761538453.504 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.117599 2025-10-27T04:14:13.506Z,1761538453.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504090 s, deltaX: -0.100000 m, approachRate: -0.198378 m/s, rangeRepo size: 4 2025-10-27T04:14:13.511Z,1761538453.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T04:14:13.517Z,1761538453.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.031984 m, nav range: 13.095666 m, bearing: 273.144517 deg, approach rate: -0.534927 m/s, LOS rate: 0.005409 deg/s, cmd heading: 273.952932 deg, new cmd heading: 273.959389 deg. 2025-10-27T04:14:13.518Z,1761538453.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781493 target range: 14.031984 and range: 14.00 m. 2025-10-27T04:14:13.738Z,1761538453.738 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.350868 2025-10-27T04:14:13.974Z,1761538453.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T04:14:13.989Z,1761538453.989 [DAT](INFO): DAT read: Rx Time:04:14:12.6435 2025-10-27T04:14:13.989Z,1761538453.989 [DAT](INFO): Rx dataTimestamp_ set to:1761538453.988976 2025-10-27T04:14:13.991Z,1761538453.991 [DAT](INFO): DAT read: Bearing 96.8, -7.6 (Local) 2025-10-27T04:14:13.991Z,1761538453.991 [DAT](INFO): Local bearing/azimuth received: Bearing 96.8, -7.6 (Local) 2025-10-27T04:14:13.998Z,1761538453.998 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-27T04:14:14.003Z,1761538454.003 [DAT](INFO): DAT read: 04:14:12.6435 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.15,-1.226,-2.859,-0.826,-1.156, PHS= 0.031,-1.658, 0.286, RAW= 156.9, 14.5, CAL= 157.5, 16.6, ROT= 352.5, -16.6 2025-10-27T04:14:14.004Z,1761538454.004 [DAT](INFO): got valid direction response: 04:14:12.6435 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.15,-1.226,-2.859,-0.826,-1.156, PHS= 0.031,-1.658, 0.286, RAW= 156.9, 14.5, CAL= 157.5, 16.6, ROT= 352.5, -16.6 2025-10-27T04:14:14.005Z,1761538454.005 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T04:14:14.006Z,1761538454.006 [DAT](INFO): direction in FSK: [0.950124,-0.125086,0.285688] 2025-10-27T04:14:14.006Z,1761538454.006 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:14.010Z,1761538454.010 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.623936 2025-10-27T04:14:14.013Z,1761538454.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.031984 m, nav range: 12.856599 m, bearing: 273.146980 deg, approach rate: -0.518105 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.959379 deg, new cmd heading: 273.966904 deg. 2025-10-27T04:14:14.014Z,1761538454.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781624 target range: 14.031984 and range: 14.00 m. 2025-10-27T04:14:14.241Z,1761538454.241 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.854340 2025-10-27T04:14:14.351Z,1761538454.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127864,0.975121,0.181079],[-0.990583,0.116551,0.071838],[0.048945,-0.188560,0.980841]] 2025-10-27T04:14:14.468Z,1761538454.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504181 s, deltaX: -0.300000 m, approachRate: -0.595025 m/s, rangeRepo size: 4 2025-10-27T04:14:14.470Z,1761538454.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.633904 m, bearing: 273.136305 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 1.008271 s, deltaX: -0.398080 m, approachRate: -0.394814 m/s, posRepo size: 4 2025-10-27T04:14:14.470Z,1761538454.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m. 2025-10-27T04:14:14.484Z,1761538454.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.633904 m, nav range: 12.703778 m, bearing: 273.152713 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.966893 deg, new cmd heading: 273.974979 deg. 2025-10-27T04:14:14.485Z,1761538454.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781765 target range: 13.633904 and range: 13.70 m. 2025-10-27T04:14:14.493Z,1761538454.493 [DAT](INFO): DAT read: Rx Time:04:14:13.1434 2025-10-27T04:14:14.493Z,1761538454.493 [DAT](INFO): Rx dataTimestamp_ set to:1761538454.492763 2025-10-27T04:14:14.494Z,1761538454.494 [DAT](INFO): DAT read: Bearing 96.6, -7.6 (Local) 2025-10-27T04:14:14.495Z,1761538454.495 [DAT](INFO): Local bearing/azimuth received: Bearing 96.6, -7.6 (Local) 2025-10-27T04:14:14.497Z,1761538454.497 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 2025-10-27T04:14:14.501Z,1761538454.501 [DAT](INFO): DAT read: 04:14:13.1434 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.05, 2.063, 0.424, 2.470, 2.133, PHS= 0.032,-1.664, 0.293, RAW= 157.0, 14.4, CAL= 157.7, 16.5, ROT= 352.3, -16.5 2025-10-27T04:14:14.502Z,1761538454.502 [DAT](INFO): got valid direction response: 04:14:13.1434 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.05, 2.063, 0.424, 2.470, 2.133, PHS= 0.032,-1.664, 0.293, RAW= 157.0, 14.4, CAL= 157.7, 16.5, ROT= 352.3, -16.5 2025-10-27T04:14:14.503Z,1761538454.503 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T04:14:14.504Z,1761538454.504 [DAT](INFO): direction in FSK: [0.950174,-0.128469,0.284015] 2025-10-27T04:14:14.504Z,1761538454.504 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:14.508Z,1761538454.508 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.121826 2025-10-27T04:14:14.745Z,1761538454.745 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.358391 2025-10-27T04:14:14.860Z,1761538454.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121374,0.975660,0.182636],[-0.991287,0.109659,0.072966],[0.051162,-0.189901,0.980469]] 2025-10-27T04:14:14.962Z,1761538454.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503787 s, deltaX: -0.200000 m, approachRate: -0.396993 m/s, rangeRepo size: 4 2025-10-27T04:14:14.972Z,1761538454.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.434813 m, bearing: 272.562460 deg, lat: 36.779375 deg, lon: -121.859574 deg, deltaT: 0.503787 s, deltaX: -0.199092 m, approachRate: -0.395191 m/s, posRepo size: 4 2025-10-27T04:14:14.973Z,1761538454.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-27T04:14:14.980Z,1761538454.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.434813 m, nav range: 12.480580 m, bearing: 273.128292 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.974980 deg, new cmd heading: 273.983110 deg. 2025-10-27T04:14:14.981Z,1761538454.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781908 target range: 13.434813 and range: 13.50 m. 2025-10-27T04:14:14.997Z,1761538454.997 [DAT](INFO): DAT read: Rx Time:04:14:13.6431 2025-10-27T04:14:14.997Z,1761538454.997 [DAT](INFO): Rx dataTimestamp_ set to:1761538454.996901 2025-10-27T04:14:14.998Z,1761538454.998 [DAT](INFO): DAT read: Bearing 95.5, -7.1 (Local) 2025-10-27T04:14:14.999Z,1761538454.999 [DAT](INFO): Local bearing/azimuth received: Bearing 95.5, -7.1 (Local) 2025-10-27T04:14:15.001Z,1761538455.001 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.5 2025-10-27T04:14:15.006Z,1761538455.006 [DAT](INFO): DAT read: 04:14:13.6431 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 496, 0.19, 1.003,-0.657, 1.405, 1.044, PHS= 0.061,-1.656, 0.317, RAW= 156.8, 13.7, CAL= 157.3, 15.5, ROT= 352.7, -15.5 2025-10-27T04:14:15.007Z,1761538455.007 [DAT](INFO): got valid direction response: 04:14:13.6431 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 496, 0.19, 1.003,-0.657, 1.405, 1.044, PHS= 0.061,-1.656, 0.317, RAW= 156.8, 13.7, CAL= 157.3, 15.5, ROT= 352.7, -15.5 2025-10-27T04:14:15.007Z,1761538455.007 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T04:14:15.008Z,1761538455.008 [DAT](INFO): direction in FSK: [0.955820,-0.122443,0.267238] 2025-10-27T04:14:15.008Z,1761538455.008 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:15.012Z,1761538455.012 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.625889 2025-10-27T04:14:15.248Z,1761538455.248 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.861805 2025-10-27T04:14:15.456Z,1761538455.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504138 s, deltaX: -0.400000 m, approachRate: -0.793433 m/s, rangeRepo size: 4 2025-10-27T04:14:15.458Z,1761538455.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.036744 m, bearing: 272.758288 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.504138 s, deltaX: -0.398068 m, approachRate: -0.789602 m/s, posRepo size: 4 2025-10-27T04:14:15.458Z,1761538455.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m. 2025-10-27T04:14:15.465Z,1761538455.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.036744 m, nav range: 12.162782 m, bearing: 273.031243 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.983121 deg, new cmd heading: 273.991092 deg. 2025-10-27T04:14:15.466Z,1761538455.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782047 target range: 13.036744 and range: 13.10 m. 2025-10-27T04:14:15.501Z,1761538455.501 [DAT](INFO): DAT read: Rx Time:04:14:14.1430 2025-10-27T04:14:15.501Z,1761538455.501 [DAT](INFO): Rx dataTimestamp_ set to:1761538455.500913 2025-10-27T04:14:15.502Z,1761538455.502 [DAT](INFO): DAT read: Bearing 97.3, -7.6 (Local) 2025-10-27T04:14:15.503Z,1761538455.503 [DAT](INFO): Local bearing/azimuth received: Bearing 97.3, -7.6 (Local) 2025-10-27T04:14:15.505Z,1761538455.505 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.5 2025-10-27T04:14:15.511Z,1761538455.511 [DAT](INFO): DAT read: 04:14:14.1430 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 511, 0.19, 3.099, 1.463,-2.790,-3.094, PHS= 0.011,-1.682, 0.260, RAW= 156.8, 15.2, CAL= 157.5, 17.6, ROT= 352.5, -17.6 2025-10-27T04:14:15.513Z,1761538455.513 [DAT](INFO): got valid direction response: 04:14:14.1430 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 511, 0.19, 3.099, 1.463,-2.790,-3.094, PHS= 0.011,-1.682, 0.260, RAW= 156.8, 15.2, CAL= 157.5, 17.6, ROT= 352.5, -17.6 2025-10-27T04:14:15.513Z,1761538455.513 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T04:14:15.552Z,1761538455.552 [DAT](INFO): direction in FSK: [0.945036,-0.124416,0.302370] 2025-10-27T04:14:15.553Z,1761538455.553 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:15.575Z,1761538455.575 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.189079 2025-10-27T04:14:15.738Z,1761538455.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114505,0.976413,0.183049],[-0.992006,0.102547,0.073544],[0.053038,-0.190007,0.980349]] 2025-10-27T04:14:15.752Z,1761538455.752 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.365547 2025-10-27T04:14:15.842Z,1761538455.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504012 s, deltaX: -0.200001 m, approachRate: -0.396817 m/s, rangeRepo size: 4 2025-10-27T04:14:15.853Z,1761538455.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.837721 m, bearing: 272.596198 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.504012 s, deltaX: -0.199023 m, approachRate: -0.394878 m/s, posRepo size: 4 2025-10-27T04:14:15.853Z,1761538455.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m. 2025-10-27T04:14:15.860Z,1761538455.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.837721 m, nav range: 11.930792 m, bearing: 272.774683 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.991099 deg, new cmd heading: 273.997482 deg. 2025-10-27T04:14:15.861Z,1761538455.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782158 target range: 12.837721 and range: 12.90 m. 2025-10-27T04:14:16.005Z,1761538456.005 [DAT](INFO): DAT read: Rx Time:04:14:14.6427 2025-10-27T04:14:16.006Z,1761538456.006 [DAT](INFO): Rx dataTimestamp_ set to:1761538456.005902 2025-10-27T04:14:16.008Z,1761538456.008 [DAT](INFO): DAT read: Bearing 96.7, -7.6 (Local) 2025-10-27T04:14:16.008Z,1761538456.008 [DAT](INFO): Local bearing/azimuth received: Bearing 96.7, -7.6 (Local) 2025-10-27T04:14:16.010Z,1761538456.010 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.6 2025-10-27T04:14:16.016Z,1761538456.016 [DAT](INFO): DAT read: 04:14:14.6427 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.14, 2.530, 0.884, 2.933, 2.611, PHS= 0.021,-1.682, 0.278, RAW= 156.9, 14.8, CAL= 157.6, 17.1, ROT= 352.4, -17.1 2025-10-27T04:14:16.017Z,1761538456.017 [DAT](INFO): got valid direction response: 04:14:14.6427 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.14, 2.530, 0.884, 2.933, 2.611, PHS= 0.021,-1.682, 0.278, RAW= 156.9, 14.8, CAL= 157.6, 17.1, ROT= 352.4, -17.1 2025-10-27T04:14:16.017Z,1761538456.017 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T04:14:16.018Z,1761538456.018 [DAT](INFO): direction in FSK: [0.947397,-0.126410,0.294040] 2025-10-27T04:14:16.018Z,1761538456.018 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:16.026Z,1761538456.026 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.639896 2025-10-27T04:14:16.242Z,1761538456.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504989 s, deltaX: -0.400000 m, approachRate: -0.792096 m/s, rangeRepo size: 4 2025-10-27T04:14:16.256Z,1761538456.256 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.869701 2025-10-27T04:14:16.258Z,1761538456.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.439652 m, bearing: 272.390832 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.504989 s, deltaX: -0.398068 m, approachRate: -0.788271 m/s, posRepo size: 4 2025-10-27T04:14:16.278Z,1761538456.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m. 2025-10-27T04:14:16.302Z,1761538456.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.439652 m, nav range: 11.664165 m, bearing: 272.573848 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 273.997492 deg, new cmd heading: 274.004010 deg. 2025-10-27T04:14:16.324Z,1761538456.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782272 target range: 12.439652 and range: 12.50 m. 2025-10-27T04:14:16.509Z,1761538456.509 [DAT](INFO): DAT read: Rx Time:04:14:15.1425 2025-10-27T04:14:16.509Z,1761538456.509 [DAT](INFO): Rx dataTimestamp_ set to:1761538456.508936 2025-10-27T04:14:16.510Z,1761538456.510 [DAT](INFO): DAT read: Bearing 96.1, -7.1 (Local) 2025-10-27T04:14:16.511Z,1761538456.511 [DAT](INFO): Local bearing/azimuth received: Bearing 96.1, -7.1 (Local) 2025-10-27T04:14:16.513Z,1761538456.513 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.7 2025-10-27T04:14:16.518Z,1761538456.518 [DAT](INFO): DAT read: 04:14:15.1425 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.04, 2.817, 1.154,-3.075, 2.879, PHS= 0.040,-1.680, 0.285, RAW= 156.6, 14.5, CAL= 157.2, 16.6, ROT= 352.8, -16.6 2025-10-27T04:14:16.519Z,1761538456.519 [DAT](INFO): got valid direction response: 04:14:15.1425 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.04, 2.817, 1.154,-3.075, 2.879, PHS= 0.040,-1.680, 0.285, RAW= 156.6, 14.5, CAL= 157.2, 16.6, ROT= 352.8, -16.6 2025-10-27T04:14:16.519Z,1761538456.519 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T04:14:16.520Z,1761538456.520 [DAT](INFO): direction in FSK: [0.950766,-0.120110,0.285688] 2025-10-27T04:14:16.520Z,1761538456.520 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:16.525Z,1761538456.525 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.138416 2025-10-27T04:14:16.645Z,1761538456.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503034 s, deltaX: -0.200000 m, approachRate: -0.397587 m/s, rangeRepo size: 4 2025-10-27T04:14:16.652Z,1761538456.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.240619 m, bearing: 272.688831 deg, lat: 36.779374 deg, lon: -121.859575 deg, deltaT: 0.503034 s, deltaX: -0.199034 m, approachRate: -0.395667 m/s, posRepo size: 4 2025-10-27T04:14:16.654Z,1761538456.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m. 2025-10-27T04:14:16.661Z,1761538456.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.240619 m, nav range: 11.449811 m, bearing: 272.545977 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 274.004021 deg, new cmd heading: 274.010593 deg. 2025-10-27T04:14:16.662Z,1761538456.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782387 target range: 12.240619 and range: 12.30 m. 2025-10-27T04:14:16.764Z,1761538456.764 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.375916 2025-10-27T04:14:17.013Z,1761538457.013 [DAT](INFO): DAT read: Rx Time:04:14:15.6422 2025-10-27T04:14:17.013Z,1761538457.013 [DAT](INFO): Rx dataTimestamp_ set to:1761538457.012834 2025-10-27T04:14:17.014Z,1761538457.014 [DAT](INFO): DAT read: Bearing 95.7, -7.2 (Local) 2025-10-27T04:14:17.015Z,1761538457.015 [DAT](INFO): Local bearing/azimuth received: Bearing 95.7, -7.2 (Local) 2025-10-27T04:14:17.017Z,1761538457.017 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.6 2025-10-27T04:14:17.022Z,1761538457.022 [DAT](INFO): DAT read: 04:14:15.6422 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.05,-0.087,-1.753, 0.313,-0.026, PHS= 0.041,-1.682, 0.295, RAW= 156.8, 14.3, CAL= 157.4, 16.4, ROT= 352.6, -16.4 2025-10-27T04:14:17.027Z,1761538457.027 [DAT](INFO): got valid direction response: 04:14:15.6422 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.05,-0.087,-1.753, 0.313,-0.026, PHS= 0.041,-1.682, 0.295, RAW= 156.8, 14.3, CAL= 157.4, 16.4, ROT= 352.6, -16.4 2025-10-27T04:14:17.028Z,1761538457.028 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T04:14:17.029Z,1761538457.029 [DAT](INFO): direction in FSK: [0.951324,-0.123555,0.282341] 2025-10-27T04:14:17.029Z,1761538457.029 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:17.041Z,1761538457.041 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.654503 2025-10-27T04:14:17.108Z,1761538457.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503898 s, deltaX: -0.400001 m, approachRate: -0.793813 m/s, rangeRepo size: 4 2025-10-27T04:14:17.110Z,1761538457.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.842472 m, bearing: 272.446404 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.503898 s, deltaX: -0.398147 m, approachRate: -0.790133 m/s, posRepo size: 4 2025-10-27T04:14:17.111Z,1761538457.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m. 2025-10-27T04:14:17.117Z,1761538457.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.842472 m, nav range: 11.139362 m, bearing: 272.509540 deg, approach rate: 0.000000 m/s, LOS rate: 0.005436 deg/s, cmd heading: 274.010606 deg, new cmd heading: 274.018084 deg. 2025-10-27T04:14:17.118Z,1761538457.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782518 target range: 11.842472 and range: 11.90 m. 2025-10-27T04:14:17.268Z,1761538457.268 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.880638 2025-10-27T04:14:17.429Z,1761538457.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100184,0.977402,0.186139],[-0.993339,0.087552,0.074912],[0.056922,-0.192405,0.979663]] 2025-10-27T04:14:17.466Z,1761538457.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:17.472Z,1761538457.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m. 2025-10-27T04:14:17.479Z,1761538457.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.842472 m, nav range: 10.922932 m, bearing: 272.489675 deg, approach rate: -0.586338 m/s, LOS rate: -0.054883 deg/s, cmd heading: 274.018092 deg, new cmd heading: 273.957316 deg. 2025-10-27T04:14:17.480Z,1761538457.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781457 target range: 11.842472 and range: 11.90 m. 2025-10-27T04:14:17.517Z,1761538457.517 [DAT](INFO): DAT read: Rx Time:04:14:16.1421 2025-10-27T04:14:17.518Z,1761538457.518 [DAT](INFO): Rx dataTimestamp_ set to:1761538457.517234 2025-10-27T04:14:17.519Z,1761538457.519 [DAT](INFO): DAT read: Bearing 96.8, -7.5 (Local) 2025-10-27T04:14:17.519Z,1761538457.519 [DAT](INFO): Local bearing/azimuth received: Bearing 96.8, -7.5 (Local) 2025-10-27T04:14:17.521Z,1761538457.521 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.6 2025-10-27T04:14:17.526Z,1761538457.526 [DAT](INFO): DAT read: 04:14:16.1421 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.21, 1.084,-0.575, 1.481, 1.176, PHS= 0.010,-1.706, 0.261, RAW= 156.7, 15.3, CAL= 157.5, 17.6, ROT= 352.5, -17.6 2025-10-27T04:14:17.527Z,1761538457.527 [DAT](INFO): got valid direction response: 04:14:16.1421 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.21, 1.084,-0.575, 1.481, 1.176, PHS= 0.010,-1.706, 0.261, RAW= 156.7, 15.3, CAL= 157.5, 17.6, ROT= 352.5, -17.6 2025-10-27T04:14:17.528Z,1761538457.528 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T04:14:17.529Z,1761538457.529 [DAT](INFO): direction in FSK: [0.945036,-0.124416,0.302370] 2025-10-27T04:14:17.529Z,1761538457.529 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:17.533Z,1761538457.533 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.146175 2025-10-27T04:14:17.683Z,1761538457.683 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:14:17.799Z,1761538457.799 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.399994 2025-10-27T04:14:17.897Z,1761538457.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096898,0.977603,0.186825],[-0.993624,0.084146,0.075041],[0.057640,-0.192906,0.979523]] 2025-10-27T04:14:18.037Z,1761538458.037 [DAT](INFO): DAT read: Rx Time:04:14:16.6417 2025-10-27T04:14:18.037Z,1761538458.037 [DAT](INFO): Rx dataTimestamp_ set to:1761538458.036816 2025-10-27T04:14:18.038Z,1761538458.038 [DAT](INFO): DAT read: Bearing 95.9, -7.1 (Local) 2025-10-27T04:14:18.039Z,1761538458.039 [DAT](INFO): Local bearing/azimuth received: Bearing 95.9, -7.1 (Local) 2025-10-27T04:14:18.041Z,1761538458.041 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.6 2025-10-27T04:14:18.046Z,1761538458.046 [DAT](INFO): DAT read: 04:14:16.6417 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.44, 0.772,-0.902, 1.164, 0.842, PHS= 0.032,-1.699, 0.279, RAW= 156.6, 14.7, CAL= 157.2, 16.9, ROT= 352.8, -16.9 2025-10-27T04:14:18.047Z,1761538458.047 [DAT](INFO): got valid direction response: 04:14:16.6417 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.44, 0.772,-0.902, 1.164, 0.842, PHS= 0.032,-1.699, 0.279, RAW= 156.6, 14.7, CAL= 157.2, 16.9, ROT= 352.8, -16.9 2025-10-27T04:14:18.047Z,1761538458.047 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T04:14:18.048Z,1761538458.048 [DAT](INFO): direction in FSK: [0.949269,-0.119921,0.290702] 2025-10-27T04:14:18.048Z,1761538458.048 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:18.058Z,1761538458.058 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.671429 2025-10-27T04:14:18.062Z,1761538458.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 1.023982 s, deltaX: -0.799999 m, approachRate: -0.781263 m/s, rangeRepo size: 4 2025-10-27T04:14:18.076Z,1761538458.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.643427 m, bearing: 271.633693 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.504400 s, deltaX: -0.199045 m, approachRate: -0.394618 m/s, posRepo size: 4 2025-10-27T04:14:18.077Z,1761538458.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m. 2025-10-27T04:14:18.084Z,1761538458.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.643427 m, nav range: 10.601918 m, bearing: 272.386969 deg, approach rate: 0.000000 m/s, LOS rate: -0.054883 deg/s, cmd heading: 273.957303 deg, new cmd heading: 273.860302 deg. 2025-10-27T04:14:18.085Z,1761538458.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779764 target range: 11.643427 and range: 11.10 m. 2025-10-27T04:14:18.231Z,1761538458.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093768,0.977713,0.187842],[-0.993888,0.080885,0.075128],[0.058260,-0.193738,0.979322]] 2025-10-27T04:14:18.293Z,1761538458.293 [DAT](INFO): DAT read: Rx Time:04:14:17.1416 2025-10-27T04:14:18.295Z,1761538458.295 [DAT](INFO): Rx dataTimestamp_ set to:1761538458.293672 2025-10-27T04:14:18.299Z,1761538458.299 [DAT](INFO): DAT read: Bearing 95.8, -6.2 (Local) 2025-10-27T04:14:18.300Z,1761538458.300 [DAT](INFO): Local bearing/azimuth received: Bearing 95.8, -6.2 (Local) 2025-10-27T04:14:18.311Z,1761538458.311 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.5 2025-10-27T04:14:18.336Z,1761538458.336 [DAT](INFO): DAT read: 04:14:17.1416 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497, 0.43, 2.312, 0.613, 2.672, 2.362, PHS= 0.051,-1.705, 0.265, RAW= 155.7, 14.7, CAL= 156.2, 16.8, ROT= 353.8, -16.8 2025-10-27T04:14:18.337Z,1761538458.337 [DAT](INFO): got valid direction response: 04:14:17.1416 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497, 0.43, 2.312, 0.613, 2.672, 2.362, PHS= 0.051,-1.705, 0.265, RAW= 155.7, 14.7, CAL= 156.2, 16.8, ROT= 353.8, -16.8 2025-10-27T04:14:18.337Z,1761538458.337 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T04:14:18.338Z,1761538458.338 [DAT](INFO): direction in FSK: [0.951720,-0.103390,0.289032] 2025-10-27T04:14:18.338Z,1761538458.338 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:18.350Z,1761538458.350 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.963818 2025-10-27T04:14:18.370Z,1761538458.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.256856 s, deltaX: -0.100000 m, approachRate: -0.389325 m/s, rangeRepo size: 4 2025-10-27T04:14:18.377Z,1761538458.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.946812 m, bearing: 272.606163 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.776438 s, deltaX: -0.696615 m, approachRate: -0.897194 m/s, posRepo size: 4 2025-10-27T04:14:18.377Z,1761538458.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m. 2025-10-27T04:14:18.392Z,1761538458.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.946812 m, nav range: 10.355597 m, bearing: 272.366531 deg, approach rate: 0.000000 m/s, LOS rate: -0.054883 deg/s, cmd heading: 273.860314 deg, new cmd heading: 273.809522 deg. 2025-10-27T04:14:18.394Z,1761538458.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.778878 target range: 10.946812 and range: 11.00 m. 2025-10-27T04:14:18.540Z,1761538458.540 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.153660 2025-10-27T04:14:18.688Z,1761538458.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:14:18.796Z,1761538458.796 [DAT](INFO): DAT read: Rx Time:04:14:17.6414 2025-10-27T04:14:18.799Z,1761538458.799 [DAT](INFO): Rx dataTimestamp_ set to:1761538458.797345 2025-10-27T04:14:18.805Z,1761538458.805 [DAT](INFO): DAT read: Bearing 96.4, -6.2 (Local) 2025-10-27T04:14:18.806Z,1761538458.806 [DAT](INFO): Local bearing/azimuth received: Bearing 96.4, -6.2 (Local) 2025-10-27T04:14:18.814Z,1761538458.814 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.5 2025-10-27T04:14:18.823Z,1761538458.823 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-27T04:14:18.824Z,1761538458.824 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.437511 2025-10-27T04:14:18.865Z,1761538458.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087956,0.978358,0.187296],[-0.994340,0.074982,0.075276],[0.059603,-0.192857,0.979415]] 2025-10-27T04:14:18.922Z,1761538458.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503673 s, deltaX: -0.500000 m, approachRate: -0.992708 m/s, rangeRepo size: 4 2025-10-27T04:14:18.928Z,1761538458.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m. 2025-10-27T04:14:18.937Z,1761538458.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.946812 m, nav range: 10.038213 m, bearing: 272.324171 deg, approach rate: -0.574991 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.809525 deg, new cmd heading: 273.678428 deg. 2025-10-27T04:14:18.938Z,1761538458.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.776590 target range: 10.946812 and range: 10.50 m. 2025-10-27T04:14:19.050Z,1761538459.050 [DAT](INFO): DAT read: 04:14:17.6414 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 510, 0.33, 0.887,-0.813, 1.240, 0.955, PHS= 0.034,-1.723, 0.241, RAW= 155.5, 15.3, CAL= 156.2, 17.5, ROT= 353.8, -17.5 2025-10-27T04:14:19.051Z,1761538459.051 [DAT](INFO): got valid direction response: 04:14:17.6414 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 510, 0.33, 0.887,-0.813, 1.240, 0.955, PHS= 0.034,-1.723, 0.241, RAW= 155.5, 15.3, CAL= 156.2, 17.5, ROT= 353.8, -17.5 2025-10-27T04:14:19.052Z,1761538459.052 [DAT](INFO): #Rx 103: Read direction message, but no range. 2025-10-27T04:14:19.053Z,1761538459.053 [DAT](INFO): direction in FSK: [0.948139,-0.103001,0.300706] 2025-10-27T04:14:19.056Z,1761538459.056 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.669807 2025-10-27T04:14:19.305Z,1761538459.305 [DAT](INFO): DAT read: Rx Time:04:14:18.1413 2025-10-27T04:14:19.306Z,1761538459.306 [DAT](INFO): Rx dataTimestamp_ set to:1761538459.305309 2025-10-27T04:14:19.310Z,1761538459.310 [DAT](INFO): DAT read: Bearing 94.3, -5.3 (Local) 2025-10-27T04:14:19.313Z,1761538459.313 [DAT](INFO): Local bearing/azimuth received: Bearing 94.3, -5.3 (Local) 2025-10-27T04:14:19.318Z,1761538459.318 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.5 2025-10-27T04:14:19.324Z,1761538459.324 [DAT](INFO): DAT read: 04:14:18.1413 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.42, 1.624,-0.099, 1.966, 1.631, PHS= 0.096,-1.685, 0.292, RAW= 155.2, 13.7, CAL= 155.5, 15.4, ROT= 354.5, -15.4 2025-10-27T04:14:19.325Z,1761538459.325 [DAT](INFO): got valid direction response: 04:14:18.1413 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.42, 1.624,-0.099, 1.966, 1.631, PHS= 0.096,-1.685, 0.292, RAW= 155.2, 13.7, CAL= 155.5, 15.4, ROT= 354.5, -15.4 2025-10-27T04:14:19.325Z,1761538459.325 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T04:14:19.326Z,1761538459.326 [DAT](INFO): direction in FSK: [0.959657,-0.092405,0.265556] 2025-10-27T04:14:19.326Z,1761538459.326 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:19.363Z,1761538459.363 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.976913 2025-10-27T04:14:19.471Z,1761538459.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085769,0.978597,0.187063],[-0.994523,0.072837,0.074954],[0.059724,-0.192467,0.979484]] 2025-10-27T04:14:19.552Z,1761538459.552 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.165573 2025-10-27T04:14:19.562Z,1761538459.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.507964 s, deltaX: -0.100000 m, approachRate: -0.196865 m/s, rangeRepo size: 4 2025-10-27T04:14:19.573Z,1761538459.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.349719 m, bearing: 272.528121 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 1.011637 s, deltaX: -0.597093 m, approachRate: -0.590224 m/s, posRepo size: 4 2025-10-27T04:14:19.573Z,1761538459.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.35 m. 2025-10-27T04:14:19.580Z,1761538459.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.349719 m, nav range: 9.750480 m, bearing: 272.467669 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.678440 deg, new cmd heading: 273.526415 deg. 2025-10-27T04:14:19.581Z,1761538459.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773937 target range: 10.349719 and range: 10.40 m. 2025-10-27T04:14:19.808Z,1761538459.808 [DAT](INFO): DAT read: Rx Time:04:14:18.6410 2025-10-27T04:14:19.810Z,1761538459.810 [DAT](INFO): Rx dataTimestamp_ set to:1761538459.808667 2025-10-27T04:14:19.814Z,1761538459.814 [DAT](INFO): DAT read: Bearing 93.4, -4.0 (Local) 2025-10-27T04:14:19.815Z,1761538459.815 [DAT](INFO): Local bearing/azimuth received: Bearing 93.4, -4.0 (Local) 2025-10-27T04:14:19.817Z,1761538459.817 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 2025-10-27T04:14:19.818Z,1761538459.818 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-27T04:14:19.823Z,1761538459.823 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.437077 2025-10-27T04:14:20.060Z,1761538460.060 [DAT](INFO): DAT read: 04:14:18.6410 LVL= 27632, 32753, 32754, 32755, AGC= 56, IDX= 507,-0.32,-1.345,-3.079,-1.039,-1.381, PHS= 0.138,-1.653, 0.298, RAW= 154.2, 12.9, CAL= 154.5, 14.4, ROT= 355.5, -14.4 2025-10-27T04:14:20.061Z,1761538460.061 [DAT](INFO): got valid direction response: 04:14:18.6410 LVL= 27632, 32753, 32754, 32755, AGC= 56, IDX= 507,-0.32,-1.345,-3.079,-1.039,-1.381, PHS= 0.138,-1.653, 0.298, RAW= 154.2, 12.9, CAL= 154.5, 14.4, ROT= 355.5, -14.4 2025-10-27T04:14:20.061Z,1761538460.061 [DAT](INFO): #Rx 106: Read direction message, but no range. 2025-10-27T04:14:20.062Z,1761538460.062 [DAT](INFO): direction in FSK: [0.965597,-0.075994,0.248690] 2025-10-27T04:14:20.066Z,1761538460.066 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.679321 2025-10-27T04:14:20.201Z,1761538460.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503358 s, deltaX: -0.500000 m, approachRate: -0.993329 m/s, rangeRepo size: 4 2025-10-27T04:14:20.203Z,1761538460.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.852180 m, bearing: 273.321470 deg, lat: 36.779374 deg, lon: -121.859574 deg, deltaT: 0.503358 s, deltaX: -0.497539 m, approachRate: -0.988439 m/s, posRepo size: 4 2025-10-27T04:14:20.207Z,1761538460.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-27T04:14:20.208Z,1761538460.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-10-27T04:14:20.208Z,1761538460.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T04:14:20.211Z,1761538460.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 9.397842 m, bearing: 272.432398 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.526427 deg, new cmd heading: 273.378035 deg. 2025-10-27T04:14:20.220Z,1761538460.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.771347 target range: 9.852180 and range: 9.90 m. 2025-10-27T04:14:20.308Z,1761538460.308 [DAT](INFO): DAT read: Rx Time:04:14:19.1410 2025-10-27T04:14:20.309Z,1761538460.309 [DAT](INFO): Rx dataTimestamp_ set to:1761538460.308570 2025-10-27T04:14:20.310Z,1761538460.310 [DAT](INFO): DAT read: Bearing 92.2, -3.1 (Local) 2025-10-27T04:14:20.310Z,1761538460.310 [DAT](INFO): Local bearing/azimuth received: Bearing 92.2, -3.1 (Local) 2025-10-27T04:14:20.312Z,1761538460.312 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 2025-10-27T04:14:20.313Z,1761538460.313 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-27T04:14:20.314Z,1761538460.314 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.927303 2025-10-27T04:14:20.530Z,1761538460.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081902,0.978694,0.188283],[-0.994971,0.069363,0.072257],[0.057658,-0.193254,0.979453]] 2025-10-27T04:14:20.563Z,1761538460.563 [DAT](INFO): DAT read: 04:14:19.1410 LVL= 24976, 32753, 30194, 32755, AGC= 55, IDX= 506,-0.02,-0.479,-2.218,-0.191,-0.556, PHS= 0.179,-1.617, 0.321, RAW= 153.8, 11.9, CAL= 2025-10-27T04:14:20.564Z,1761538460.564 [DAT](INFO): unknown deviceResponse_: 04:14:19.1410 LVL= 24976, 32753, 30194, 32755, AGC= 55, IDX= 506,-0.02,-0.479,-2.218,-0.191,-0.556, PHS= 0.179,-1.617, 0.321, RAW= 153.8, 11.9, CAL= 2025-10-27T04:14:20.565Z,1761538460.565 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.178234 2025-10-27T04:14:20.575Z,1761538460.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:20.578Z,1761538460.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.499903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:20.583Z,1761538460.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:20.586Z,1761538460.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 9.208889 m, bearing: 272.406855 deg, approach rate: -0.483347 m/s, LOS rate: -0.066681 deg/s, cmd heading: 273.378048 deg, new cmd heading: 273.299846 deg. 2025-10-27T04:14:20.587Z,1761538460.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.769982 target range: 9.852180 and range: 9.90 m. 2025-10-27T04:14:20.816Z,1761538460.816 [DAT](INFO): DAT read: Rx Time:04:14:19.6407 2025-10-27T04:14:20.817Z,1761538460.817 [DAT](INFO): Rx dataTimestamp_ set to:1761538460.815944 2025-10-27T04:14:20.818Z,1761538460.818 [DAT](INFO): DAT read: Bearing 93.7, -3.5 (Local) 2025-10-27T04:14:20.819Z,1761538460.819 [DAT](INFO): Local bearing/azimuth received: Bearing 93.7, -3.5 (Local) 2025-10-27T04:14:20.822Z,1761538460.822 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-27T04:14:20.833Z,1761538460.833 [DAT](INFO): DAT read: 04:14:19.6407 LVL= 28400, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.29,-0.233,-1.987, 0.051,-0.269, PHS= 0.138,-1.673, 0.276, RAW= 153.6, 13.3, CAL= 153.9, 14.9, ROT= 356.1, -14.9 2025-10-27T04:14:20.834Z,1761538460.834 [DAT](INFO): got valid direction response: 04:14:19.6407 LVL= 28400, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.29,-0.233,-1.987, 0.051,-0.269, PHS= 0.138,-1.673, 0.276, RAW= 153.6, 13.3, CAL= 153.9, 14.9, ROT= 356.1, -14.9 2025-10-27T04:14:20.834Z,1761538460.834 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T04:14:20.850Z,1761538460.850 [DAT](INFO): direction in FSK: [0.964138,-0.065728,0.257133] 2025-10-27T04:14:20.850Z,1761538460.850 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:20.865Z,1761538460.865 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.478489 2025-10-27T04:14:20.949Z,1761538460.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081466,0.979022,0.186762],[-0.995084,0.069309,0.070734],[0.056305,-0.191606,0.979855]] 2025-10-27T04:14:21.064Z,1761538461.064 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.677750 2025-10-27T04:14:21.097Z,1761538461.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.507374 s, deltaX: -0.400000 m, approachRate: -0.788372 m/s, rangeRepo size: 4 2025-10-27T04:14:21.103Z,1761538461.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.454104 m, bearing: 273.763814 deg, lat: 36.779374 deg, lon: -121.859573 deg, deltaT: 1.007277 s, deltaX: -0.398076 m, approachRate: -0.395200 m/s, posRepo size: 4 2025-10-27T04:14:21.104Z,1761538461.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.85 m. 2025-10-27T04:14:21.106Z,1761538461.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 8.981664 m, bearing: 272.375447 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.299856 deg, new cmd heading: 273.176697 deg. 2025-10-27T04:14:21.112Z,1761538461.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.767833 target range: 9.852180 and range: 9.50 m. 2025-10-27T04:14:21.317Z,1761538461.317 [DAT](INFO): DAT read: Rx Time:04:14:20.1407 2025-10-27T04:14:21.317Z,1761538461.317 [DAT](INFO): Rx dataTimestamp_ set to:1761538461.316920 2025-10-27T04:14:21.318Z,1761538461.318 [DAT](INFO): DAT read: Bearing 93.6, -3.6 (Local) 2025-10-27T04:14:21.319Z,1761538461.319 [DAT](INFO): Local bearing/azimuth received: Bearing 93.6, -3.6 (Local) 2025-10-27T04:14:21.322Z,1761538461.322 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-27T04:14:21.333Z,1761538461.333 [DAT](INFO): DAT read: 04:14:20.1407 LVL= 29776, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.09,-1.532, 2.992,-1.247,-1.566, PHS= 0.136,-1.680, 0.275, RAW= 153.6, 13.4, CAL= 153.9, 15.0, ROT= 356.1, -15.0 2025-10-27T04:14:21.334Z,1761538461.334 [DAT](INFO): got valid direction response: 04:14:20.1407 LVL= 29776, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.09,-1.532, 2.992,-1.247,-1.566, PHS= 0.136,-1.680, 0.275, RAW= 153.6, 13.4, CAL= 153.9, 15.0, ROT= 356.1, -15.0 2025-10-27T04:14:21.340Z,1761538461.340 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T04:14:21.341Z,1761538461.341 [DAT](INFO): direction in FSK: [0.963689,-0.065698,0.258819] 2025-10-27T04:14:21.342Z,1761538461.342 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:21.354Z,1761538461.354 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.967731 2025-10-27T04:14:21.435Z,1761538461.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081359,0.979243,0.185642],[-0.995173,0.069560,0.069219],[0.054869,-0.190378,0.980176]] 2025-10-27T04:14:21.541Z,1761538461.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.500976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:21.553Z,1761538461.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.454104 m, bearing: 273.758102 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 1.508253 s, deltaX: -0.398076 m, approachRate: -0.263932 m/s, posRepo size: 4 2025-10-27T04:14:21.554Z,1761538461.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.85 m. 2025-10-27T04:14:21.557Z,1761538461.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 8.749372 m, bearing: 272.370010 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.176694 deg, new cmd heading: 273.071220 deg. 2025-10-27T04:14:21.558Z,1761538461.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.765992 target range: 9.852180 and range: 9.50 m. 2025-10-27T04:14:21.568Z,1761538461.568 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.181633 2025-10-27T04:14:21.821Z,1761538461.821 [DAT](INFO): DAT read: Rx Time:04:14:20.6404 2025-10-27T04:14:21.821Z,1761538461.821 [DAT](INFO): Rx dataTimestamp_ set to:1761538461.820731 2025-10-27T04:14:21.822Z,1761538461.822 [DAT](INFO): DAT read: Bearing 93.3, -3.9 (Local) 2025-10-27T04:14:21.823Z,1761538461.823 [DAT](INFO): Local bearing/azimuth received: Bearing 93.3, -3.9 (Local) 2025-10-27T04:14:21.825Z,1761538461.825 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 2025-10-27T04:14:21.834Z,1761538461.834 [DAT](INFO): DAT read: 04:14:20.6404 LVL= 31968, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.44, 2.731, 0.964, 3.030, 2.698, PHS= 0.135,-1.688, 0.288, RAW= 154.0, 13.2, CAL= 154.2, 14.8, ROT= 355.8, -14.8 2025-10-27T04:14:21.836Z,1761538461.836 [DAT](INFO): got valid direction response: 04:14:20.6404 LVL= 31968, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.44, 2.731, 0.964, 3.030, 2.698, PHS= 0.135,-1.688, 0.288, RAW= 154.0, 13.2, CAL= 154.2, 14.8, ROT= 355.8, -14.8 2025-10-27T04:14:21.836Z,1761538461.836 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T04:14:21.837Z,1761538461.837 [DAT](INFO): direction in FSK: [0.964227,-0.070809,0.255446] 2025-10-27T04:14:21.837Z,1761538461.837 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:21.841Z,1761538461.841 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.454788 2025-10-27T04:14:21.931Z,1761538461.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081762,0.979599,0.183576],[-0.995224,0.070391,0.067637],[0.053335,-0.188229,0.980676]] 2025-10-27T04:14:22.072Z,1761538462.072 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.685707 2025-10-27T04:14:22.075Z,1761538462.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503811 s, deltaX: -0.500000 m, approachRate: -0.992436 m/s, rangeRepo size: 4 2025-10-27T04:14:22.077Z,1761538462.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.956500 m, bearing: 273.405144 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 2.012064 s, deltaX: -0.895680 m, approachRate: -0.445155 m/s, posRepo size: 4 2025-10-27T04:14:22.078Z,1761538462.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.96 m. 9.85 m. 2025-10-27T04:14:22.085Z,1761538462.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 8.535032 m, bearing: 272.364221 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 273.071209 deg, new cmd heading: 272.945284 deg. 2025-10-27T04:14:22.086Z,1761538462.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.763794 target range: 9.852180 and range: 9.00 m. 2025-10-27T04:14:22.325Z,1761538462.325 [DAT](INFO): DAT read: Rx Time:04:14:21.1404 2025-10-27T04:14:22.325Z,1761538462.325 [DAT](INFO): Rx dataTimestamp_ set to:1761538462.324789 2025-10-27T04:14:22.326Z,1761538462.326 [DAT](INFO): DAT read: Bearing 95.3, -4.9 (Local) 2025-10-27T04:14:22.327Z,1761538462.327 [DAT](INFO): Local bearing/azimuth received: Bearing 95.3, -4.9 (Local) 2025-10-27T04:14:22.329Z,1761538462.329 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 2025-10-27T04:14:22.334Z,1761538462.334 [DAT](INFO): DAT read: 04:14:21.1404 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.10,-0.987,-2.726,-0.676,-0.953, PHS= 0.068,-1.728, 0.233, RAW= 154.4, 15.0, CAL= 154.9, 17.0, ROT= 355.1, -17.0 2025-10-27T04:14:22.336Z,1761538462.336 [DAT](INFO): got valid direction response: 04:14:21.1404 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.10,-0.987,-2.726,-0.676,-0.953, PHS= 0.068,-1.728, 0.233, RAW= 154.4, 15.0, CAL= 154.9, 17.0, ROT= 355.1, -17.0 2025-10-27T04:14:22.336Z,1761538462.336 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T04:14:22.337Z,1761538462.337 [DAT](INFO): direction in FSK: [0.952810,-0.081685,0.292372] 2025-10-27T04:14:22.337Z,1761538462.337 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:22.341Z,1761538462.341 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.954521 2025-10-27T04:14:22.438Z,1761538462.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083102,0.979748,0.182176],[-0.995276,0.072389,0.064701],[0.050203,-0.186692,0.981135]] 2025-10-27T04:14:22.538Z,1761538462.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:22.544Z,1761538462.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.956500 m, bearing: 273.207436 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 2.516122 s, deltaX: -0.895680 m, approachRate: -0.355977 m/s, posRepo size: 4 2025-10-27T04:14:22.545Z,1761538462.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.96 m. 9.85 m. 2025-10-27T04:14:22.552Z,1761538462.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 8.295787 m, bearing: 272.368613 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.945288 deg, new cmd heading: 272.834442 deg. 2025-10-27T04:14:22.553Z,1761538462.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761859 target range: 9.852180 and range: 9.00 m. 2025-10-27T04:14:22.579Z,1761538462.579 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.192223 2025-10-27T04:14:22.829Z,1761538462.829 [DAT](INFO): DAT read: Rx Time:04:14:21.6402 2025-10-27T04:14:22.830Z,1761538462.830 [DAT](INFO): Rx dataTimestamp_ set to:1761538462.829618 2025-10-27T04:14:22.835Z,1761538462.835 [DAT](INFO): DAT read: Bearing 96.1, -5.5 (Local) 2025-10-27T04:14:22.836Z,1761538462.836 [DAT](INFO): Local bearing/azimuth received: Bearing 96.1, -5.5 (Local) 2025-10-27T04:14:22.838Z,1761538462.838 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 2025-10-27T04:14:22.842Z,1761538462.842 [DAT](INFO): DAT read: 04:14:21.6402 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.13, 2.881, 1.176,-3.083, 2.945, PHS= 0.039,-1.724, 0.212, RAW= 154.6, 15.7, CAL= 155.3, 17.9, ROT= 354.7, -17.9 2025-10-27T04:14:22.844Z,1761538462.844 [DAT](INFO): got valid direction response: 04:14:21.6402 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.13, 2.881, 1.176,-3.083, 2.945, PHS= 0.039,-1.724, 0.212, RAW= 154.6, 15.7, CAL= 155.3, 17.9, ROT= 354.7, -17.9 2025-10-27T04:14:22.844Z,1761538462.844 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T04:14:22.845Z,1761538462.845 [DAT](INFO): direction in FSK: [0.947526,-0.087899,0.307357] 2025-10-27T04:14:22.845Z,1761538462.845 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:22.863Z,1761538462.863 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.476696 2025-10-27T04:14:22.929Z,1761538462.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084109,0.979352,0.183835],[-0.995270,0.073567,0.063443],[0.048608,-0.188301,0.980908]] 2025-10-27T04:14:22.994Z,1761538462.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504829 s, deltaX: -0.300000 m, approachRate: -0.594261 m/s, rangeRepo size: 4 2025-10-27T04:14:23.000Z,1761538463.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.657911 m, bearing: 273.084425 deg, lat: 36.779375 deg, lon: -121.859573 deg, deltaT: 3.020951 s, deltaX: -1.194269 m, approachRate: -0.395329 m/s, posRepo size: 4 2025-10-27T04:14:23.001Z,1761538463.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.66 m. 9.85 m. 2025-10-27T04:14:23.017Z,1761538463.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 8.099541 m, bearing: 272.370990 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.834447 deg, new cmd heading: 272.726136 deg. 2025-10-27T04:14:23.041Z,1761538463.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759969 target range: 9.852180 and range: 8.70 m. 2025-10-27T04:14:23.080Z,1761538463.080 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.693653 2025-10-27T04:14:23.333Z,1761538463.333 [DAT](INFO): DAT read: Rx Time:04:14:22.1401 2025-10-27T04:14:23.334Z,1761538463.334 [DAT](INFO): Rx dataTimestamp_ set to:1761538463.333375 2025-10-27T04:14:23.336Z,1761538463.336 [DAT](INFO): DAT read: Bearing 94.9, -5.2 (Local) 2025-10-27T04:14:23.336Z,1761538463.336 [DAT](INFO): Local bearing/azimuth received: Bearing 94.9, -5.2 (Local) 2025-10-27T04:14:23.339Z,1761538463.339 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.3 2025-10-27T04:14:23.344Z,1761538463.344 [DAT](INFO): DAT read: 04:14:22.1401 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.36,-2.816, 1.737,-2.495,-2.784, PHS= 0.070,-1.717, 0.245, RAW= 154.6, 14.8, CAL= 155.1, 16.8, ROT= 354.9, -16.8 2025-10-27T04:14:23.345Z,1761538463.345 [DAT](INFO): got valid direction response: 04:14:22.1401 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.36,-2.816, 1.737,-2.495,-2.784, PHS= 0.070,-1.717, 0.245, RAW= 154.6, 14.8, CAL= 155.1, 16.8, ROT= 354.9, -16.8 2025-10-27T04:14:23.346Z,1761538463.346 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T04:14:23.347Z,1761538463.347 [DAT](INFO): direction in FSK: [0.953530,-0.085100,0.289032] 2025-10-27T04:14:23.348Z,1761538463.348 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:23.352Z,1761538463.352 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.965187 2025-10-27T04:14:23.431Z,1761538463.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084725,0.979135,0.184709],[-0.995277,0.074345,0.062428],[0.047393,-0.189125,0.980809]] 2025-10-27T04:14:23.534Z,1761538463.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503757 s, deltaX: -0.099999 m, approachRate: -0.198507 m/s, rangeRepo size: 4 2025-10-27T04:14:23.540Z,1761538463.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.558395 m, bearing: 273.105292 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 3.524708 s, deltaX: -1.293785 m, approachRate: -0.367062 m/s, posRepo size: 4 2025-10-27T04:14:23.541Z,1761538463.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.56 m. 9.85 m. 2025-10-27T04:14:23.548Z,1761538463.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 7.862329 m, bearing: 272.384469 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.726148 deg, new cmd heading: 272.597892 deg. 2025-10-27T04:14:23.549Z,1761538463.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.757731 target range: 9.852180 and range: 8.60 m. 2025-10-27T04:14:23.584Z,1761538463.584 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.197769 2025-10-27T04:14:23.837Z,1761538463.837 [DAT](INFO): DAT read: Rx Time:04:14:22.6399 2025-10-27T04:14:23.837Z,1761538463.837 [DAT](INFO): Rx dataTimestamp_ set to:1761538463.836862 2025-10-27T04:14:23.838Z,1761538463.838 [DAT](INFO): DAT read: Bearing 94.7, -5.5 (Local) 2025-10-27T04:14:23.839Z,1761538463.839 [DAT](INFO): Local bearing/azimuth received: Bearing 94.7, -5.5 (Local) 2025-10-27T04:14:23.841Z,1761538463.841 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.3 2025-10-27T04:14:23.846Z,1761538463.846 [DAT](INFO): DAT read: 04:14:22.6399 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 511, 0.28,-1.588, 2.977,-1.258,-1.553, PHS= 0.067,-1.709, 0.251, RAW= 154.9, 14.7, CAL= 155.4, 16.7, ROT= 354.6, -16.7 2025-10-27T04:14:23.847Z,1761538463.847 [DAT](INFO): got valid direction response: 04:14:22.6399 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 511, 0.28,-1.588, 2.977,-1.258,-1.553, PHS= 0.067,-1.709, 0.251, RAW= 154.9, 14.7, CAL= 155.4, 16.7, ROT= 354.6, -16.7 2025-10-27T04:14:23.847Z,1761538463.847 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T04:14:23.848Z,1761538463.848 [DAT](INFO): direction in FSK: [0.953572,-0.090139,0.287361] 2025-10-27T04:14:23.849Z,1761538463.849 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:23.852Z,1761538463.852 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.465771 2025-10-27T04:14:23.901Z,1761538463.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085009,0.979141,0.184543],[-0.995305,0.074845,0.061377],[0.046284,-0.188894,0.980906]] 2025-10-27T04:14:23.959Z,1761538463.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503487 s, deltaX: -0.300000 m, approachRate: -0.595845 m/s, rangeRepo size: 4 2025-10-27T04:14:23.961Z,1761538463.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.259874 m, bearing: 272.796853 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 4.028195 s, deltaX: -1.592306 m, approachRate: -0.395290 m/s, posRepo size: 4 2025-10-27T04:14:23.962Z,1761538463.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.26 m. 9.85 m. 2025-10-27T04:14:23.969Z,1761538463.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 7.680642 m, bearing: 272.394972 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.597904 deg, new cmd heading: 272.497834 deg. 2025-10-27T04:14:23.970Z,1761538463.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.755984 target range: 9.852180 and range: 8.30 m. 2025-10-27T04:14:24.091Z,1761538464.091 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.704189 2025-10-27T04:14:24.324Z,1761538464.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084838,0.979374,0.183382],[-0.995372,0.074967,0.060120],[0.045132,-0.187633,0.981202]] 2025-10-27T04:14:24.341Z,1761538464.341 [DAT](INFO): DAT read: Rx Time:04:14:23.1398 2025-10-27T04:14:24.341Z,1761538464.341 [DAT](INFO): Rx dataTimestamp_ set to:1761538464.340728 2025-10-27T04:14:24.342Z,1761538464.342 [DAT](INFO): DAT read: Bearing 94.6, -4.9 (Local) 2025-10-27T04:14:24.343Z,1761538464.343 [DAT](INFO): Local bearing/azimuth received: Bearing 94.6, -4.9 (Local) 2025-10-27T04:14:24.345Z,1761538464.345 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 2025-10-27T04:14:24.349Z,1761538464.349 [DAT](INFO): DAT read: 04:14:23.1398 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.07,-2.233, 2.309,-1.924,-2.211, PHS= 0.081,-1.718, 0.243, RAW= 154.3, 14.7, CAL= 154.7, 16.6, ROT= 355.3, -16.6 2025-10-27T04:14:24.350Z,1761538464.350 [DAT](INFO): got valid direction response: 04:14:23.1398 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.07,-2.233, 2.309,-1.924,-2.211, PHS= 0.081,-1.718, 0.243, RAW= 154.3, 14.7, CAL= 154.7, 16.6, ROT= 355.3, -16.6 2025-10-27T04:14:24.351Z,1761538464.351 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T04:14:24.352Z,1761538464.352 [DAT](INFO): direction in FSK: [0.955100,-0.078524,0.285688] 2025-10-27T04:14:24.352Z,1761538464.352 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:24.360Z,1761538464.360 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.973480 2025-10-27T04:14:24.430Z,1761538464.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503866 s, deltaX: -0.200000 m, approachRate: -0.396931 m/s, rangeRepo size: 4 2025-10-27T04:14:24.440Z,1761538464.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.060842 m, bearing: 273.442839 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 4.532061 s, deltaX: -1.791339 m, approachRate: -0.395259 m/s, posRepo size: 4 2025-10-27T04:14:24.441Z,1761538464.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.06 m. 9.85 m. 2025-10-27T04:14:24.452Z,1761538464.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 7.482306 m, bearing: 272.426530 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.497828 deg, new cmd heading: 272.385093 deg. 2025-10-27T04:14:24.453Z,1761538464.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754017 target range: 9.852180 and range: 8.10 m. 2025-10-27T04:14:24.592Z,1761538464.592 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.205685 2025-10-27T04:14:24.821Z,1761538464.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082654,0.979831,0.181934],[-0.995641,0.073274,0.057698],[0.043204,-0.185910,0.981616]] 2025-10-27T04:14:24.839Z,1761538464.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:24.841Z,1761538464.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:24.845Z,1761538464.845 [DAT](INFO): DAT read: Rx Time:04:14:23.6396 2025-10-27T04:14:24.845Z,1761538464.845 [DAT](INFO): Rx dataTimestamp_ set to:1761538464.844804 2025-10-27T04:14:24.846Z,1761538464.846 [DAT](INFO): DAT read: Bearing 95.1, -4.5 (Local) 2025-10-27T04:14:24.847Z,1761538464.847 [DAT](INFO): Local bearing/azimuth received: Bearing 95.1, -4.5 (Local) 2025-10-27T04:14:24.849Z,1761538464.849 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-27T04:14:24.860Z,1761538464.860 [DAT](INFO): DAT read: 04:14:23.6396 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508,-0.12, 1.254,-0.488, 1.541, 1.278, PHS= 0.077,-1.722, 0.219, RAW= 153.7, 15.1, CAL= 154.2, 17.1, ROT= 355.8, -17.1 2025-10-27T04:14:24.861Z,1761538464.861 [DAT](INFO): got valid direction response: 04:14:23.6396 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508,-0.12, 1.254,-0.488, 1.541, 1.278, PHS= 0.077,-1.722, 0.219, RAW= 153.7, 15.1, CAL= 154.2, 17.1, ROT= 355.8, -17.1 2025-10-27T04:14:24.862Z,1761538464.862 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T04:14:24.882Z,1761538464.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 7.273902 m, bearing: 272.465142 deg, approach rate: -0.506103 m/s, LOS rate: 0.096454 deg/s, cmd heading: 272.385103 deg, new cmd heading: 272.504257 deg. 2025-10-27T04:14:24.886Z,1761538464.886 [DAT](INFO): direction in FSK: [0.953226,-0.070001,0.294040] 2025-10-27T04:14:24.886Z,1761538464.886 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:24.887Z,1761538464.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.756096 target range: 9.852180 and range: 8.10 m. 2025-10-27T04:14:24.904Z,1761538464.904 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.517723 2025-10-27T04:14:25.099Z,1761538465.099 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.712955 2025-10-27T04:14:25.327Z,1761538465.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.504076 s, deltaX: -0.300000 m, approachRate: -0.595149 m/s, rangeRepo size: 4 2025-10-27T04:14:25.329Z,1761538465.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.762317 m, bearing: 273.887857 deg, lat: 36.779375 deg, lon: -121.859575 deg, deltaT: 5.036137 s, deltaX: -2.089864 m, approachRate: -0.414974 m/s, posRepo size: 4 2025-10-27T04:14:25.330Z,1761538465.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 9.85 m. 2025-10-27T04:14:25.333Z,1761538465.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 7.068942 m, bearing: 272.527042 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.504249 deg, new cmd heading: 272.390797 deg. 2025-10-27T04:14:25.334Z,1761538465.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.754116 target range: 9.852180 and range: 7.80 m. 2025-10-27T04:14:25.349Z,1761538465.349 [DAT](INFO): DAT read: Rx Time:04:14:24.1395 2025-10-27T04:14:25.349Z,1761538465.349 [DAT](INFO): Rx dataTimestamp_ set to:1761538465.348963 2025-10-27T04:14:25.351Z,1761538465.351 [DAT](INFO): DAT read: Bearing 94.9, -3.8 (Local) 2025-10-27T04:14:25.351Z,1761538465.351 [DAT](INFO): Local bearing/azimuth received: Bearing 94.9, -3.8 (Local) 2025-10-27T04:14:25.353Z,1761538465.353 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 2025-10-27T04:14:25.358Z,1761538465.358 [DAT](INFO): DAT read: 04:14:24.1395 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.44,-2.884, 1.642,-2.626,-2.878, PHS= 0.096,-1.719, 0.208, RAW= 153.0, 15.0, CAL= 153.4, 16.9, ROT= 356.6, -16.9 2025-10-27T04:14:25.359Z,1761538465.359 [DAT](INFO): got valid direction response: 04:14:24.1395 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.44,-2.884, 1.642,-2.626,-2.878, PHS= 0.096,-1.719, 0.208, RAW= 153.0, 15.0, CAL= 153.4, 16.9, ROT= 356.6, -16.9 2025-10-27T04:14:25.359Z,1761538465.359 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T04:14:25.360Z,1761538465.360 [DAT](INFO): direction in FSK: [0.955129,-0.056745,0.290702] 2025-10-27T04:14:25.361Z,1761538465.361 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:25.365Z,1761538465.365 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.978661 2025-10-27T04:14:25.603Z,1761538465.603 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.216759 2025-10-27T04:14:25.727Z,1761538465.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077544,0.979942,0.183575],[-0.996087,0.068320,0.056060],[0.042394,-0.187204,0.981406]] 2025-10-27T04:14:25.750Z,1761538465.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504159 s, deltaX: -0.100000 m, approachRate: -0.198351 m/s, rangeRepo size: 4 2025-10-27T04:14:25.755Z,1761538465.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.662799 m, bearing: 274.374116 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 5.540296 s, deltaX: -2.189381 m, approachRate: -0.395174 m/s, posRepo size: 4 2025-10-27T04:14:25.781Z,1761538465.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.66 m. 9.85 m. 2025-10-27T04:14:25.805Z,1761538465.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 6.820124 m, bearing: 272.617934 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.390785 deg, new cmd heading: 272.288440 deg. 2025-10-27T04:14:25.813Z,1761538465.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752330 target range: 9.852180 and range: 7.70 m. 2025-10-27T04:14:25.853Z,1761538465.853 [DAT](INFO): DAT read: Rx Time:04:14:24.6393 2025-10-27T04:14:25.853Z,1761538465.853 [DAT](INFO): Rx dataTimestamp_ set to:1761538465.852778 2025-10-27T04:14:25.855Z,1761538465.855 [DAT](INFO): DAT read: Bearing 95.3, -3.7 (Local) 2025-10-27T04:14:25.856Z,1761538465.856 [DAT](INFO): Local bearing/azimuth received: Bearing 95.3, -3.7 (Local) 2025-10-27T04:14:25.859Z,1761538465.859 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T04:14:25.874Z,1761538465.874 [DAT](INFO): DAT read: 04:14:24.6393 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.13,-3.002, 1.528,-2.754,-2.983, PHS= 0.084,-1.727, 0.185, RAW= 152.7, 15.5, CAL= 153.2, 17.5, ROT= 356.8, -17.5 2025-10-27T04:14:25.877Z,1761538465.877 [DAT](INFO): got valid direction response: 04:14:24.6393 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.13,-3.002, 1.528,-2.754,-2.983, PHS= 0.084,-1.727, 0.185, RAW= 152.7, 15.5, CAL= 153.2, 17.5, ROT= 356.8, -17.5 2025-10-27T04:14:25.878Z,1761538465.878 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T04:14:25.882Z,1761538465.882 [DAT](INFO): direction in FSK: [0.952230,-0.053238,0.300706] 2025-10-27T04:14:25.883Z,1761538465.883 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:25.910Z,1761538465.910 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.524002 2025-10-27T04:14:26.108Z,1761538466.108 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.720966 2025-10-27T04:14:26.152Z,1761538466.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074388,0.979886,0.185174],[-0.996325,0.065122,0.055634],[0.042456,-0.188632,0.981130]] 2025-10-27T04:14:26.230Z,1761538466.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503815 s, deltaX: -0.300000 m, approachRate: -0.595456 m/s, rangeRepo size: 4 2025-10-27T04:14:26.236Z,1761538466.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.364272 m, bearing: 274.544249 deg, lat: 36.779375 deg, lon: -121.859576 deg, deltaT: 6.044111 s, deltaX: -2.487908 m, approachRate: -0.411625 m/s, posRepo size: 4 2025-10-27T04:14:26.237Z,1761538466.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.85 m. 2025-10-27T04:14:26.244Z,1761538466.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 6.565437 m, bearing: 272.675815 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.288442 deg, new cmd heading: 272.174551 deg. 2025-10-27T04:14:26.244Z,1761538466.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.750342 target range: 9.852180 and range: 7.40 m. 2025-10-27T04:14:26.357Z,1761538466.357 [DAT](INFO): DAT read: Rx Time:04:14:25.1392 2025-10-27T04:14:26.357Z,1761538466.357 [DAT](INFO): Rx dataTimestamp_ set to:1761538466.356929 2025-10-27T04:14:26.358Z,1761538466.358 [DAT](INFO): DAT read: Bearing 94.9, -2.4 (Local) 2025-10-27T04:14:26.359Z,1761538466.359 [DAT](INFO): Local bearing/azimuth received: Bearing 94.9, -2.4 (Local) 2025-10-27T04:14:26.362Z,1761538466.362 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 2025-10-27T04:14:26.382Z,1761538466.382 [DAT](INFO): DAT read: 04:14:25.1392 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505,-0.20,-3.014, 1.482,-2.813,-3.030, PHS= 0.118,-1.726, 0.173, RAW= 151.5, 15.2, CAL= 151.8, 17.0, ROT= 358.2, -17.0 2025-10-27T04:14:26.388Z,1761538466.388 [DAT](INFO): got valid direction response: 04:14:25.1392 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505,-0.20,-3.014, 1.482,-2.813,-3.030, PHS= 0.118,-1.726, 0.173, RAW= 151.5, 15.2, CAL= 151.8, 17.0, ROT= 358.2, -17.0 2025-10-27T04:14:26.388Z,1761538466.388 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T04:14:26.390Z,1761538466.390 [DAT](INFO): direction in FSK: [0.955833,-0.030038,0.292372] 2025-10-27T04:14:26.400Z,1761538466.400 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:26.417Z,1761538466.417 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.030804 2025-10-27T04:14:26.608Z,1761538466.608 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.221966 2025-10-27T04:14:26.629Z,1761538466.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071101,0.979815,0.186835],[-0.996561,0.061786,0.055224],[0.042566,-0.190119,0.980838]] 2025-10-27T04:14:26.672Z,1761538466.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.504151 s, deltaX: -0.200000 m, approachRate: -0.396707 m/s, rangeRepo size: 4 2025-10-27T04:14:26.674Z,1761538466.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.165237 m, bearing: 275.669995 deg, lat: 36.779376 deg, lon: -121.859577 deg, deltaT: 6.548262 s, deltaX: -2.686943 m, approachRate: -0.410329 m/s, posRepo size: 4 2025-10-27T04:14:26.681Z,1761538466.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.17 m. 9.85 m. 2025-10-27T04:14:26.689Z,1761538466.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 6.330204 m, bearing: 272.740452 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.174542 deg, new cmd heading: 272.074294 deg. 2025-10-27T04:14:26.690Z,1761538466.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.748592 target range: 9.852180 and range: 7.20 m. 2025-10-27T04:14:26.861Z,1761538466.861 [DAT](INFO): DAT read: Rx Time:04:14:25.6390 2025-10-27T04:14:26.861Z,1761538466.861 [DAT](INFO): Rx dataTimestamp_ set to:1761538466.860797 2025-10-27T04:14:26.862Z,1761538466.862 [DAT](INFO): DAT read: Bearing 94.8, -1.3 (Local) 2025-10-27T04:14:26.868Z,1761538466.868 [DAT](INFO): Local bearing/azimuth received: Bearing 94.8, -1.3 (Local) 2025-10-27T04:14:26.870Z,1761538466.870 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 2025-10-27T04:14:26.880Z,1761538466.880 [DAT](INFO): DAT read: 04:14:25.6390 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.17,-2.032, 2.441,-1.871,-2.069, PHS= 0.139,-1.728, 0.154, RAW= 150.4, 15.1, CAL= 150.7, 16.9, ROT= 359.3, -16.9 2025-10-27T04:14:26.881Z,1761538466.881 [DAT](INFO): got valid direction response: 04:14:25.6390 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.17,-2.032, 2.441,-1.871,-2.069, PHS= 0.139,-1.728, 0.154, RAW= 150.4, 15.1, CAL= 150.7, 16.9, ROT= 359.3, -16.9 2025-10-27T04:14:26.882Z,1761538466.882 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T04:14:26.888Z,1761538466.888 [DAT](INFO): direction in FSK: [0.956742,-0.011689,0.290702] 2025-10-27T04:14:26.888Z,1761538466.888 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:26.906Z,1761538466.906 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:14:26.906Z,1761538466.906 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:14:26.906Z,1761538466.906 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:14:27.030Z,1761538467.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068030,0.979951,0.187262],[-0.996766,0.058715,0.054857],[0.042762,-0.190389,0.980777]] 2025-10-27T04:14:27.114Z,1761538467.114 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:27.149Z,1761538467.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.503868 s, deltaX: -0.300000 m, approachRate: -0.595393 m/s, rangeRepo size: 4 2025-10-27T04:14:27.155Z,1761538467.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.866695 m, bearing: 276.569553 deg, lat: 36.779376 deg, lon: -121.859578 deg, deltaT: 7.052130 s, deltaX: -2.985485 m, approachRate: -0.423345 m/s, posRepo size: 4 2025-10-27T04:14:27.156Z,1761538467.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.87 m. 9.85 m. 2025-10-27T04:14:27.158Z,1761538467.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 6.095883 m, bearing: 272.816595 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 272.074302 deg, new cmd heading: 271.956262 deg. 2025-10-27T04:14:27.163Z,1761538467.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.746532 target range: 9.852180 and range: 6.90 m. 2025-10-27T04:14:27.365Z,1761538467.365 [DAT](INFO): DAT read: Rx Time:04:14:26.1387 2025-10-27T04:14:27.366Z,1761538467.366 [DAT](INFO): Rx dataTimestamp_ set to:1761538467.365638 2025-10-27T04:14:27.368Z,1761538467.368 [DAT](INFO): DAT read: Bearing 95.3, 0.9 (Local) 2025-10-27T04:14:27.369Z,1761538467.369 [DAT](INFO): Local bearing/azimuth received: Bearing 95.3, 0.9 (Local) 2025-10-27T04:14:27.377Z,1761538467.377 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 2025-10-27T04:14:27.386Z,1761538467.386 [DAT](INFO): DAT read: 04:14:26.1387 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501,-0.32, 2.736, 0.884, 2.815, 2.669, PHS= 0.168,-1.741, 0.102, RAW= 148.2, 15.5, CAL= 148.3, 17.1, ROT= 1.7, -17.1 2025-10-27T04:14:27.425Z,1761538467.425 [DAT](INFO): got valid direction response: 04:14:26.1387 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501,-0.32, 2.736, 0.884, 2.815, 2.669, PHS= 0.168,-1.741, 0.102, RAW= 148.2, 15.5, CAL= 148.3, 17.1, ROT= 1.7, -17.1 2025-10-27T04:14:27.426Z,1761538467.426 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:14:27.427Z,1761538467.427 [DAT](INFO): direction in FSK: [0.955372,0.028355,0.294040] 2025-10-27T04:14:27.427Z,1761538467.427 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:27.430Z,1761538467.430 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:27.455Z,1761538467.455 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:14:27.616Z,1761538467.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:27.624Z,1761538467.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504841 s, deltaX: -0.400000 m, approachRate: -0.792329 m/s, rangeRepo size: 4 2025-10-27T04:14:27.626Z,1761538467.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.468626 m, bearing: 278.990119 deg, lat: 36.779377 deg, lon: -121.859578 deg, deltaT: 7.556971 s, deltaX: -3.383554 m, approachRate: -0.447740 m/s, posRepo size: 4 2025-10-27T04:14:27.631Z,1761538467.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.47 m. 9.85 m. 2025-10-27T04:14:27.634Z,1761538467.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 5.794206 m, bearing: 272.999159 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.956249 deg, new cmd heading: 271.844383 deg. 2025-10-27T04:14:27.635Z,1761538467.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744579 target range: 9.852180 and range: 6.50 m. 2025-10-27T04:14:27.874Z,1761538467.874 [DAT](INFO): DAT read: Rx Time:04:14:26.6384 2025-10-27T04:14:27.875Z,1761538467.875 [DAT](INFO): Rx dataTimestamp_ set to:1761538467.873889 2025-10-27T04:14:27.878Z,1761538467.878 [DAT](INFO): DAT read: Bearing 96.3, 2.8 (Local) 2025-10-27T04:14:27.878Z,1761538467.878 [DAT](INFO): Local bearing/azimuth received: Bearing 96.3, 2.8 (Local) 2025-10-27T04:14:27.883Z,1761538467.883 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 2025-10-27T04:14:27.890Z,1761538467.890 [DAT](INFO): DAT read: 04:14:26.6384 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.11, 2.393, 0.511, 2.396, 2.316, PHS= 0.180,-1.760, 0.036, RAW= 146.2, 16.3, CAL= 146.0, 17.9, ROT= 4.0, -17.9 2025-10-27T04:14:27.946Z,1761538467.946 [DAT](INFO): got valid direction response: 04:14:26.6384 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.11, 2.393, 0.511, 2.396, 2.316, PHS= 0.180,-1.760, 0.036, RAW= 146.2, 16.3, CAL= 146.0, 17.9, ROT= 4.0, -17.9 2025-10-27T04:14:27.946Z,1761538467.946 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:14:27.956Z,1761538467.956 [DAT](INFO): direction in FSK: [0.949276,0.066380,0.307357] 2025-10-27T04:14:27.956Z,1761538467.956 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:27.984Z,1761538467.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:27.984Z,1761538467.984 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:14:27.996Z,1761538467.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061399,0.980522,0.186567],[-0.997170,0.052137,0.054159],[0.043377,-0.189364,0.980948]] 2025-10-27T04:14:28.068Z,1761538468.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.508251 s, deltaX: -0.300000 m, approachRate: -0.590260 m/s, rangeRepo size: 4 2025-10-27T04:14:28.070Z,1761538468.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.170091 m, bearing: 281.037182 deg, lat: 36.779378 deg, lon: -121.859577 deg, deltaT: 8.065222 s, deltaX: -3.682089 m, approachRate: -0.456539 m/s, posRepo size: 4 2025-10-27T04:14:28.075Z,1761538468.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.85 m. 2025-10-27T04:14:28.084Z,1761538468.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 5.534320 m, bearing: 273.190434 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.844370 deg, new cmd heading: 271.738917 deg. 2025-10-27T04:14:28.085Z,1761538468.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.742739 target range: 9.852180 and range: 6.20 m. 2025-10-27T04:14:28.122Z,1761538468.122 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:28.375Z,1761538468.375 [DAT](INFO): DAT read: Rx Time:04:14:27.1383 2025-10-27T04:14:28.376Z,1761538468.376 [DAT](INFO): Rx dataTimestamp_ set to:1761538468.375120 2025-10-27T04:14:28.378Z,1761538468.378 [DAT](INFO): DAT read: Bearing 92.6, 4.5 (Local) 2025-10-27T04:14:28.379Z,1761538468.379 [DAT](INFO): Local bearing/azimuth received: Bearing 92.6, 4.5 (Local) 2025-10-27T04:14:28.382Z,1761538468.382 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.7 2025-10-27T04:14:28.390Z,1761538468.390 [DAT](INFO): DAT read: 04:14:27.1383 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 513, 0.04,-0.020,-2.215,-0.074,-0.268, PHS= 0.350,-1.903, 0.150, RAW= 145.4, 12.9, CAL= 145.1, 14.1, ROT= 4.9, -14.1 2025-10-27T04:14:28.396Z,1761538468.396 [DAT](INFO): got valid direction response: 04:14:27.1383 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 513, 0.04,-0.020,-2.215,-0.074,-0.268, PHS= 0.350,-1.903, 0.150, RAW= 145.4, 12.9, CAL= 145.1, 14.1, ROT= 4.9, -14.1 2025-10-27T04:14:28.397Z,1761538468.397 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:14:28.399Z,1761538468.399 [DAT](INFO): direction in FSK: [0.966327,0.082843,0.243615] 2025-10-27T04:14:28.400Z,1761538468.400 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:28.441Z,1761538468.441 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:28.441Z,1761538468.441 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:14:28.473Z,1761538468.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054668,0.980965,0.186331],[-0.997501,0.045287,0.054236],[0.044765,-0.188830,0.980989]] 2025-10-27T04:14:28.580Z,1761538468.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.501231 s, deltaX: -0.200000 m, approachRate: -0.399017 m/s, rangeRepo size: 4 2025-10-27T04:14:28.582Z,1761538468.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.971056 m, bearing: 280.732641 deg, lat: 36.779380 deg, lon: -121.859578 deg, deltaT: 8.566453 s, deltaX: -3.881124 m, approachRate: -0.453061 m/s, posRepo size: 4 2025-10-27T04:14:28.583Z,1761538468.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.97 m. 9.85 m. 2025-10-27T04:14:28.589Z,1761538468.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 5.219801 m, bearing: 273.419608 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.738912 deg, new cmd heading: 271.617395 deg. 2025-10-27T04:14:28.590Z,1761538468.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.740618 target range: 9.852180 and range: 6.00 m. 2025-10-27T04:14:28.624Z,1761538468.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:28.879Z,1761538468.879 [DAT](INFO): DAT read: Rx Time:04:14:27.6384 2025-10-27T04:14:28.879Z,1761538468.879 [DAT](INFO): Rx dataTimestamp_ set to:1761538468.878841 2025-10-27T04:14:28.881Z,1761538468.881 [DAT](INFO): DAT read: Bearing 95.5, 5.6 (Local) 2025-10-27T04:14:28.882Z,1761538468.882 [DAT](INFO): Local bearing/azimuth received: Bearing 95.5, 5.6 (Local) 2025-10-27T04:14:28.886Z,1761538468.886 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 2025-10-27T04:14:28.912Z,1761538468.912 [DAT](INFO): DAT read: 04:14:27.6384 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.08,-1.326, 2.950,-1.426,-1.484, PHS= 0.260,-1.804, 0.014, RAW= 143.7, 15.5, CAL= 143.2, 16.8, ROT= 6.8, -16.8 2025-10-27T04:14:28.913Z,1761538468.913 [DAT](INFO): got valid direction response: 04:14:27.6384 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.08,-1.326, 2.950,-1.426,-1.484, PHS= 0.260,-1.804, 0.014, RAW= 143.7, 15.5, CAL= 143.2, 16.8, ROT= 6.8, -16.8 2025-10-27T04:14:28.913Z,1761538468.913 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:14:28.914Z,1761538468.914 [DAT](INFO): direction in FSK: [0.950585,0.113350,0.289032] 2025-10-27T04:14:28.915Z,1761538468.915 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:28.938Z,1761538468.938 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:28.939Z,1761538468.939 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:14:28.955Z,1761538468.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051470,0.981130,0.186370],[-0.997628,0.041973,0.054554],[0.045703,-0.188736,0.980964]] 2025-10-27T04:14:29.011Z,1761538469.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503721 s, deltaX: 0.200000 m, approachRate: 0.397045 m/s, rangeRepo size: 4 2025-10-27T04:14:29.013Z,1761538469.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.170078 m, bearing: 282.988549 deg, lat: 36.779381 deg, lon: -121.859578 deg, deltaT: 9.070174 s, deltaX: -3.682102 m, approachRate: -0.405957 m/s, posRepo size: 4 2025-10-27T04:14:29.014Z,1761538469.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.85 m. 2025-10-27T04:14:29.021Z,1761538469.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 4.963451 m, bearing: 273.637486 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.617389 deg, new cmd heading: 271.514902 deg. 2025-10-27T04:14:29.022Z,1761538469.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738829 target range: 9.852180 and range: 6.20 m. 2025-10-27T04:14:29.130Z,1761538469.130 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:29.348Z,1761538469.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048757,0.981261,0.186411],[-0.997742,0.039219,0.054517],[0.046185,-0.188648,0.980958]] 2025-10-27T04:14:29.382Z,1761538469.382 [DAT](INFO): DAT read: Rx Time:04:14:28.1382 2025-10-27T04:14:29.382Z,1761538469.382 [DAT](INFO): Rx dataTimestamp_ set to:1761538469.381953 2025-10-27T04:14:29.385Z,1761538469.385 [DAT](INFO): DAT read: Bearing 95.8, 6.1 (Local) 2025-10-27T04:14:29.385Z,1761538469.385 [DAT](INFO): Local bearing/azimuth received: Bearing 95.8, 6.1 (Local) 2025-10-27T04:14:29.389Z,1761538469.389 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.5 2025-10-27T04:14:29.404Z,1761538469.404 [DAT](INFO): DAT read: 04:14:28.1382 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509, 0.07, 0.212,-1.837, 0.086, 0.050, PHS= 0.264,-1.842,-0.008, RAW= 143.2, 15.8, CAL= 142.6, 17.1, ROT= 7.4, -17.1 2025-10-27T04:14:29.405Z,1761538469.405 [DAT](INFO): got valid direction response: 04:14:28.1382 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509, 0.07, 0.212,-1.837, 0.086, 0.050, PHS= 0.264,-1.842,-0.008, RAW= 143.2, 15.8, CAL= 142.6, 17.1, ROT= 7.4, -17.1 2025-10-27T04:14:29.406Z,1761538469.406 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:14:29.407Z,1761538469.407 [DAT](INFO): direction in FSK: [0.947832,0.123102,0.294040] 2025-10-27T04:14:29.407Z,1761538469.407 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:29.410Z,1761538469.410 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:29.424Z,1761538469.424 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:14:29.466Z,1761538469.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503112 s, deltaX: -0.300000 m, approachRate: -0.596288 m/s, rangeRepo size: 4 2025-10-27T04:14:29.481Z,1761538469.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.871526 m, bearing: 283.487578 deg, lat: 36.779381 deg, lon: -121.859579 deg, deltaT: 9.573286 s, deltaX: -3.980654 m, approachRate: -0.415809 m/s, posRepo size: 4 2025-10-27T04:14:29.482Z,1761538469.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.85 m. 2025-10-27T04:14:29.492Z,1761538469.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 4.679266 m, bearing: 273.767414 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.514909 deg, new cmd heading: 271.405772 deg. 2025-10-27T04:14:29.493Z,1761538469.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736924 target range: 9.852180 and range: 5.90 m. 2025-10-27T04:14:29.632Z,1761538469.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:29.826Z,1761538469.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046295,0.981417,0.186220],[-0.997837,0.036724,0.054525],[0.046673,-0.188341,0.980994]] 2025-10-27T04:14:29.856Z,1761538469.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:29.859Z,1761538469.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:29.861Z,1761538469.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 4.412637 m, bearing: 273.913119 deg, approach rate: -0.679220 m/s, LOS rate: 0.393598 deg/s, cmd heading: 271.405763 deg, new cmd heading: 271.869277 deg. 2025-10-27T04:14:29.862Z,1761538469.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745014 target range: 9.852180 and range: 5.90 m. 2025-10-27T04:14:29.885Z,1761538469.885 [DAT](INFO): DAT read: Rx Time:04:14:28.6379 2025-10-27T04:14:29.886Z,1761538469.886 [DAT](INFO): Rx dataTimestamp_ set to:1761538469.885670 2025-10-27T04:14:29.889Z,1761538469.889 [DAT](INFO): DAT read: Bearing 93.9, 6.8 (Local) 2025-10-27T04:14:29.889Z,1761538469.889 [DAT](INFO): Local bearing/azimuth received: Bearing 93.9, 6.8 (Local) 2025-10-27T04:14:29.893Z,1761538469.893 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.5 2025-10-27T04:14:29.904Z,1761538469.904 [DAT](INFO): DAT read: 04:14:28.6379 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506, 0.05,-0.512,-2.621,-0.658,-0.748, PHS= 0.338,-1.828, 0.046, RAW= 142.9, 14.1, CAL= 142.3, 15.3, ROT= 7.7, -15.3 2025-10-27T04:14:29.905Z,1761538469.905 [DAT](INFO): got valid direction response: 04:14:28.6379 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506, 0.05,-0.512,-2.621,-0.658,-0.748, PHS= 0.338,-1.828, 0.046, RAW= 142.9, 14.1, CAL= 142.3, 15.3, ROT= 7.7, -15.3 2025-10-27T04:14:29.906Z,1761538469.906 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:14:29.907Z,1761538469.907 [DAT](INFO): direction in FSK: [0.955860,0.129237,0.263873] 2025-10-27T04:14:29.907Z,1761538469.907 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:29.910Z,1761538469.910 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:29.920Z,1761538469.920 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:14:30.141Z,1761538470.141 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:30.221Z,1761538470.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043921,0.981709,0.185252],[-0.997927,0.034381,0.054398],[0.047034,-0.187258,0.981184]] 2025-10-27T04:14:30.335Z,1761538470.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503717 s, deltaX: -0.500000 m, approachRate: -0.992621 m/s, rangeRepo size: 4 2025-10-27T04:14:30.337Z,1761538470.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.373846 m, bearing: 283.108039 deg, lat: 36.779382 deg, lon: -121.859582 deg, deltaT: 10.077003 s, deltaX: -4.478334 m, approachRate: -0.444411 m/s, posRepo size: 4 2025-10-27T04:14:30.338Z,1761538470.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.85 m. 2025-10-27T04:14:30.345Z,1761538470.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 4.142583 m, bearing: 274.091302 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.869287 deg, new cmd heading: 271.757172 deg. 2025-10-27T04:14:30.346Z,1761538470.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743057 target range: 9.852180 and range: 5.40 m. 2025-10-27T04:14:30.390Z,1761538470.390 [DAT](INFO): DAT read: Rx Time:04:14:29.1378 2025-10-27T04:14:30.392Z,1761538470.392 [DAT](INFO): Rx dataTimestamp_ set to:1761538470.390550 2025-10-27T04:14:30.394Z,1761538470.394 [DAT](INFO): DAT read: Bearing 93.7, 6.4 (Local) 2025-10-27T04:14:30.395Z,1761538470.395 [DAT](INFO): Local bearing/azimuth received: Bearing 93.7, 6.4 (Local) 2025-10-27T04:14:30.398Z,1761538470.398 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.6 2025-10-27T04:14:30.405Z,1761538470.405 [DAT](INFO): DAT read: 04:14:29.1378 LVL= 32752, 27377, 32754, 32755, AGC= 49, IDX= 505, 0.08,-0.533,-2.643,-0.662,-0.766, PHS= 0.335,-1.832, 0.060, RAW= 143.3, 14.0, CAL= 142.8, 15.1, ROT= 7.2, -15.1 2025-10-27T04:14:30.406Z,1761538470.406 [DAT](INFO): got valid direction response: 04:14:29.1378 LVL= 32752, 27377, 32754, 32755, AGC= 49, IDX= 505, 0.08,-0.533,-2.643,-0.662,-0.766, PHS= 0.335,-1.832, 0.060, RAW= 143.3, 14.0, CAL= 142.8, 15.1, ROT= 7.2, -15.1 2025-10-27T04:14:30.406Z,1761538470.406 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:14:30.407Z,1761538470.407 [DAT](INFO): direction in FSK: [0.957860,0.121006,0.260505] 2025-10-27T04:14:30.408Z,1761538470.408 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:30.417Z,1761538470.417 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:30.417Z,1761538470.417 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:14:30.626Z,1761538470.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042064,0.981983,0.184230],[-0.998008,0.032620,0.054001],[0.047018,-0.186135,0.981399]] 2025-10-27T04:14:30.640Z,1761538470.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:14:30.685Z,1761538470.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504880 s, deltaX: -0.100000 m, approachRate: -0.198067 m/s, rangeRepo size: 4 2025-10-27T04:14:30.692Z,1761538470.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.274331 m, bearing: 282.451922 deg, lat: 36.779382 deg, lon: -121.859582 deg, deltaT: 10.581883 s, deltaX: -4.577850 m, approachRate: -0.432612 m/s, posRepo size: 4 2025-10-27T04:14:30.693Z,1761538470.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.85 m. 2025-10-27T04:14:30.701Z,1761538470.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 3.905453 m, bearing: 274.274688 deg, approach rate: 0.000000 m/s, LOS rate: -0.079168 deg/s, cmd heading: 271.757162 deg, new cmd heading: 271.673076 deg. 2025-10-27T04:14:30.703Z,1761538470.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741590 target range: 9.852180 and range: 5.30 m. 2025-10-27T04:14:30.892Z,1761538470.892 [DAT](INFO): DAT read: user:120> 2025-10-27T04:14:30.894Z,1761538470.894 [DAT](INFO): DAT read: Command 'bl' not found 2025-10-27T04:14:30.894Z,1761538470.894 [DAT](INFO): unknown deviceResponse_: Command 'bl' not found 2025-10-27T04:14:30.895Z,1761538470.895 [DAT](INFO): DAT read: Error 2025-10-27T04:14:30.896Z,1761538470.896 [DAT](INFO): unknown deviceResponse_: Error 2025-10-27T04:14:30.897Z,1761538470.897 [DAT](INFO): DAT read: user:121> 2025-10-27T04:14:30.898Z,1761538470.898 [DAT](INFO): DAT read: Tx time:04:14:30.0307 2025-10-27T04:14:30.898Z,1761538470.898 [DAT](INFO): Ping request sent. 2025-10-27T04:14:30.899Z,1761538470.899 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:14:30.905Z,1761538470.905 [DAT](INFO): publishing transmit ping time 2025-10-27T04:14:30.905Z,1761538470.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007095 2025-10-27T04:14:31.043Z,1761538471.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041467,0.982044,0.184040],[-0.998001,0.031918,0.054549],[0.047696,-0.185934,0.981404]] 2025-10-27T04:14:31.062Z,1761538471.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:31.085Z,1761538471.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 3.658975 m, bearing: 274.492873 deg, approach rate: -0.653331 m/s, LOS rate: 0.617293 deg/s, cmd heading: 271.673069 deg, new cmd heading: 272.371681 deg. 2025-10-27T04:14:31.086Z,1761538471.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.753783 target range: 9.852180 and range: 5.30 m. 2025-10-27T04:14:31.146Z,1761538471.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247676 2025-10-27T04:14:31.399Z,1761538471.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500488 2025-10-27T04:14:31.497Z,1761538471.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041234,0.982233,0.183078],[-0.998019,0.031774,0.054308],[0.047526,-0.184955,0.981597]] 2025-10-27T04:14:31.571Z,1761538471.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:31.578Z,1761538471.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 3.380868 m, bearing: 274.696332 deg, approach rate: -0.546876 m/s, LOS rate: 0.432997 deg/s, cmd heading: 272.371688 deg, new cmd heading: 273.032244 deg. 2025-10-27T04:14:31.579Z,1761538471.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.765312 target range: 9.852180 and range: 5.30 m. 2025-10-27T04:14:31.648Z,1761538471.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749775 2025-10-27T04:14:31.901Z,1761538471.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002312 2025-10-27T04:14:31.913Z,1761538471.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041444,0.982958,0.179100],[-0.998044,0.032332,0.053501],[0.046799,-0.180967,0.982375]] 2025-10-27T04:14:31.930Z,1761538471.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:31.933Z,1761538471.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:31.945Z,1761538471.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 3.147051 m, bearing: 274.894912 deg, approach rate: -0.644694 m/s, LOS rate: 0.588215 deg/s, cmd heading: 273.032250 deg, new cmd heading: 273.672224 deg. 2025-10-27T04:14:31.946Z,1761538471.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.776481 target range: 9.852180 and range: 5.30 m. 2025-10-27T04:14:32.156Z,1761538472.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256444 2025-10-27T04:14:32.404Z,1761538472.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505769 2025-10-27T04:14:32.407Z,1761538472.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041254,0.983525,0.176001],[-0.998072,0.032390,0.052945],[0.046372,-0.177846,0.982965]] 2025-10-27T04:14:32.465Z,1761538472.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:32.468Z,1761538472.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 2.856529 m, bearing: 275.143790 deg, approach rate: -0.546664 m/s, LOS rate: 0.515930 deg/s, cmd heading: 273.672211 deg, new cmd heading: 274.494720 deg. 2025-10-27T04:14:32.468Z,1761538472.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790837 target range: 9.852180 and range: 5.30 m. 2025-10-27T04:14:32.656Z,1761538472.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757625 2025-10-27T04:14:32.797Z,1761538472.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041853,0.983967,0.173367],[-0.998084,0.033261,0.052174],[0.045571,-0.175219,0.983474]] 2025-10-27T04:14:32.858Z,1761538472.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:32.878Z,1761538472.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 2.655102 m, bearing: 275.346200 deg, approach rate: -0.512416 m/s, LOS rate: 0.553980 deg/s, cmd heading: 274.494730 deg, new cmd heading: 275.147997 deg. 2025-10-27T04:14:32.885Z,1761538472.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802238 target range: 9.852180 and range: 5.30 m. 2025-10-27T04:14:32.908Z,1761538472.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009799 2025-10-27T04:14:33.162Z,1761538473.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263654 2025-10-27T04:14:33.328Z,1761538473.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:33.339Z,1761538473.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 2.414983 m, bearing: 275.680269 deg, approach rate: -0.510596 m/s, LOS rate: 0.781001 deg/s, cmd heading: 275.147996 deg, new cmd heading: 276.249709 deg. 2025-10-27T04:14:33.340Z,1761538473.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.821467 target range: 9.852180 and range: 5.30 m. 2025-10-27T04:14:33.413Z,1761538473.413 [DAT](INFO): DAT read: Rx Time:04:14:32.1645 2025-10-27T04:14:33.414Z,1761538473.414 [DAT](INFO): Rx dataTimestamp_ set to:1761538473.413202 2025-10-27T04:14:33.416Z,1761538473.416 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 2025-10-27T04:14:33.417Z,1761538473.417 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T04:14:33.417Z,1761538473.417 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.519205 2025-10-27T04:14:33.658Z,1761538473.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046383,0.984984,0.166299],[-0.998103,0.038950,0.047686],[0.040492,-0.168195,0.984922]] 2025-10-27T04:14:33.664Z,1761538473.664 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.765553 2025-10-27T04:14:33.701Z,1761538473.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 3.022652 s, deltaX: -1.800000 m, approachRate: -0.595504 m/s, rangeRepo size: 4 2025-10-27T04:14:33.702Z,1761538473.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T04:14:33.710Z,1761538473.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.852180 m, nav range: 2.242984 m, bearing: 275.945314 deg, approach rate: -0.462543 m/s, LOS rate: 0.767422 deg/s, cmd heading: 276.249706 deg, new cmd heading: 277.105749 deg. 2025-10-27T04:14:33.716Z,1761538473.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836408 target range: 9.852180 and range: 3.50 m. 2025-10-27T04:14:33.916Z,1761538473.916 [DAT](INFO): DAT read: Rx Time:04:14:32.6642 2025-10-27T04:14:33.917Z,1761538473.917 [DAT](INFO): Rx dataTimestamp_ set to:1761538473.916661 2025-10-27T04:14:33.918Z,1761538473.918 [DAT](INFO): DAT read: Bearing 231.9, -6.6 (Local) 2025-10-27T04:14:33.919Z,1761538473.919 [DAT](INFO): Local bearing/azimuth received: Bearing 231.9, -6.6 (Local) 2025-10-27T04:14:33.921Z,1761538473.921 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4 2025-10-27T04:14:33.929Z,1761538473.929 [DAT](INFO): DAT read: 04:14:32.6642 LVL= 19920, 14545, 18802, 21667, AGC= 46, IDX= 506,-0.28,-0.749, 1.241,-0.599, 0.696, PHS=-1.342, 0.590,-1.339, RAW= 329.9, 21.0, CAL= 329.6, 25.7, ROT= 180.4, -25.7 2025-10-27T04:14:33.930Z,1761538473.930 [DAT](INFO): got valid direction response: 04:14:32.6642 LVL= 19920, 14545, 18802, 21667, AGC= 46, IDX= 506,-0.28,-0.749, 1.241,-0.599, 0.696, PHS=-1.342, 0.590,-1.339, RAW= 329.9, 21.0, CAL= 329.6, 25.7, ROT= 180.4, -25.7 2025-10-27T04:14:33.930Z,1761538473.930 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:14:33.949Z,1761538473.949 [DAT](INFO): direction in FSK: [-0.901055,-0.006291,0.433659] 2025-10-27T04:14:33.950Z,1761538473.950 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:33.977Z,1761538473.977 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.078877 2025-10-27T04:14:34.062Z,1761538474.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049437,0.985470,0.162497],[-0.998062,0.042589,0.045363],[0.037783,-0.164425,0.985666]] 2025-10-27T04:14:34.109Z,1761538474.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503459 s, deltaX: -0.500000 m, approachRate: -0.993130 m/s, rangeRepo size: 4 2025-10-27T04:14:34.115Z,1761538474.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.985498 m, bearing: 88.770137 deg, lat: 36.779382 deg, lon: -121.859582 deg, deltaT: 14.107994 s, deltaX: -6.866682 m, approachRate: -0.486723 m/s, posRepo size: 4 2025-10-27T04:14:34.116Z,1761538474.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m. 2025-10-27T04:14:34.116Z,1761538474.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T04:14:34.172Z,1761538474.172 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273313 2025-10-27T04:14:34.421Z,1761538474.421 [DAT](INFO): DAT read: Rx Time:04:14:33.1641 2025-10-27T04:14:34.421Z,1761538474.421 [DAT](INFO): Rx dataTimestamp_ set to:1761538474.420935 2025-10-27T04:14:34.422Z,1761538474.422 [DAT](INFO): DAT read: Bearing 229.3, -15.5 (Local) 2025-10-27T04:14:34.423Z,1761538474.423 [DAT](INFO): Local bearing/azimuth received: Bearing 229.3, -15.5 (Local) 2025-10-27T04:14:34.425Z,1761538474.425 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 2025-10-27T04:14:34.429Z,1761538474.429 [DAT](INFO): DAT read: 04:14:33.1641 LVL= 16944, 10417, 13298, 26579, AGC= 42, IDX= 505,-0.01,-2.049, 0.073,-1.520,-0.323, PHS=-1.624, 0.441,-1.241, RAW= 320.0, 24.3, CAL= 319.6, 29.3, ROT= 190.4, -29.3 2025-10-27T04:14:34.431Z,1761538474.431 [DAT](INFO): got valid direction response: 04:14:33.1641 LVL= 16944, 10417, 13298, 26579, AGC= 42, IDX= 505,-0.01,-2.049, 0.073,-1.520,-0.323, PHS=-1.624, 0.441,-1.241, RAW= 320.0, 24.3, CAL= 319.6, 29.3, ROT= 190.4, -29.3 2025-10-27T04:14:34.440Z,1761538474.440 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T04:14:34.441Z,1761538474.441 [DAT](INFO): direction in FSK: [-0.857742,-0.157425,0.489382] 2025-10-27T04:14:34.441Z,1761538474.441 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:34.445Z,1761538474.445 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.546438 2025-10-27T04:14:34.469Z,1761538474.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053466,0.986316,0.155959],[-0.997967,0.047353,0.042651],[0.034682,-0.157922,0.986842]] 2025-10-27T04:14:34.591Z,1761538474.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504274 s, deltaX: -0.100000 m, approachRate: -0.198305 m/s, rangeRepo size: 4 2025-10-27T04:14:34.593Z,1761538474.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.885982 m, bearing: 98.169165 deg, lat: 36.779381 deg, lon: -121.859582 deg, deltaT: 0.504274 s, deltaX: -0.099516 m, approachRate: -0.197346 m/s, posRepo size: 4 2025-10-27T04:14:34.674Z,1761538474.674 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.775466 2025-10-27T04:14:34.908Z,1761538474.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058735,0.987331,0.147406],[-0.997787,0.053452,0.039557],[0.031176,-0.149403,0.988285]] 2025-10-27T04:14:34.924Z,1761538474.924 [DAT](INFO): DAT read: Rx Time:04:14:33.6640 2025-10-27T04:14:34.925Z,1761538474.925 [DAT](INFO): Rx dataTimestamp_ set to:1761538474.924360 2025-10-27T04:14:34.926Z,1761538474.926 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.3 2025-10-27T04:14:34.926Z,1761538474.926 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-27T04:14:34.927Z,1761538474.927 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.029147 2025-10-27T04:14:34.930Z,1761538474.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:34.953Z,1761538474.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503425 s, deltaX: -0.200000 m, approachRate: -0.397279 m/s, rangeRepo size: 4 2025-10-27T04:14:35.176Z,1761538475.176 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.277782 2025-10-27T04:14:35.310Z,1761538475.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065942,0.988329,0.137322],[-0.997450,0.061523,0.036182],[0.027311,-0.139358,0.989865]] 2025-10-27T04:14:35.428Z,1761538475.428 [DAT](INFO): DAT read: Rx Time:04:14:34.1638 2025-10-27T04:14:35.429Z,1761538475.429 [DAT](INFO): Rx dataTimestamp_ set to:1761538475.428250 2025-10-27T04:14:35.430Z,1761538475.430 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.3 2025-10-27T04:14:35.430Z,1761538475.430 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-10-27T04:14:35.431Z,1761538475.431 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.533065 2025-10-27T04:14:35.680Z,1761538475.680 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.781896 2025-10-27T04:14:35.716Z,1761538475.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073757,0.989187,0.126764],[-0.996998,0.070137,0.032794],[0.023549,-0.128802,0.991391]] 2025-10-27T04:14:35.751Z,1761538475.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503890 s, deltaX: -0.300000 m, approachRate: -0.595368 m/s, rangeRepo size: 4 2025-10-27T04:14:35.933Z,1761538475.933 [DAT](INFO): DAT read: Rx Time:04:14:34.6636 2025-10-27T04:14:35.933Z,1761538475.933 [DAT](INFO): Rx dataTimestamp_ set to:1761538475.932714 2025-10-27T04:14:35.934Z,1761538475.934 [DAT](INFO): DAT read: Bearing 214.9, -9.7 (Local) 2025-10-27T04:14:35.935Z,1761538475.935 [DAT](INFO): Local bearing/azimuth received: Bearing 214.9, -9.7 (Local) 2025-10-27T04:14:35.937Z,1761538475.937 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.2 2025-10-27T04:14:35.942Z,1761538475.942 [DAT](INFO): DAT read: 04:14:34.6636 LVL= 18736, 14241, 16978, 23187, AGC= 44, IDX= 500,-0.19, 0.026, 1.549, 0.293, 1.722, PHS=-1.594,-0.129,-1.473, RAW= 325.7, 38.7, CAL= 325.4, 43.8, ROT= 184.6, -43.8 2025-10-27T04:14:35.943Z,1761538475.943 [DAT](INFO): got valid direction response: 04:14:34.6636 LVL= 18736, 14241, 16978, 23187, AGC= 44, IDX= 500,-0.19, 0.026, 1.549, 0.293, 1.722, PHS=-1.594,-0.129,-1.473, RAW= 325.7, 38.7, CAL= 325.4, 43.8, ROT= 184.6, -43.8 2025-10-27T04:14:35.943Z,1761538475.943 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T04:14:35.944Z,1761538475.944 [DAT](INFO): direction in FSK: [-0.719435,-0.057884,0.692143] 2025-10-27T04:14:35.945Z,1761538475.945 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:35.948Z,1761538475.948 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.049889 2025-10-27T04:14:36.114Z,1761538476.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082084,0.989628,0.117894],[-0.996425,0.079118,0.029637],[0.020002,-0.119905,0.992584]] 2025-10-27T04:14:36.153Z,1761538476.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504464 s, deltaX: -0.300000 m, approachRate: -0.594691 m/s, rangeRepo size: 4 2025-10-27T04:14:36.155Z,1761538476.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.089825 m, bearing: 92.714137 deg, lat: 36.779372 deg, lon: -121.859543 deg, deltaT: 1.511779 s, deltaX: -0.796157 m, approachRate: -0.526636 m/s, posRepo size: 4 2025-10-27T04:14:36.185Z,1761538476.185 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.286392 2025-10-27T04:14:36.436Z,1761538476.436 [DAT](INFO): DAT read: Rx Time:04:14:35.1637 2025-10-27T04:14:36.437Z,1761538476.437 [DAT](INFO): Rx dataTimestamp_ set to:1761538476.436687 2025-10-27T04:14:36.438Z,1761538476.438 [DAT](INFO): DAT read: Bearing 233.6, -18.8 (Local) 2025-10-27T04:14:36.439Z,1761538476.439 [DAT](INFO): Local bearing/azimuth received: Bearing 233.6, -18.8 (Local) 2025-10-27T04:14:36.441Z,1761538476.441 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2 2025-10-27T04:14:36.445Z,1761538476.445 [DAT](INFO): DAT read: 04:14:35.1637 LVL= 30768, 17985, 21666, 21379, AGC= 50, IDX= 500, 0.19,-1.334, 0.962,-0.566, 0.441, PHS=-1.673, 0.566,-1.051, RAW= 314.4, 20.9, CAL= 313.8, 26.0, ROT= 196.2, -26.0 2025-10-27T04:14:36.446Z,1761538476.446 [DAT](INFO): got valid direction response: 04:14:35.1637 LVL= 30768, 17985, 21666, 21379, AGC= 50, IDX= 500, 0.19,-1.334, 0.962,-0.566, 0.441, PHS=-1.673, 0.566,-1.051, RAW= 314.4, 20.9, CAL= 313.8, 26.0, ROT= 196.2, -26.0 2025-10-27T04:14:36.447Z,1761538476.447 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T04:14:36.448Z,1761538476.448 [DAT](INFO): direction in FSK: [-0.863106,-0.250756,0.438371] 2025-10-27T04:14:36.448Z,1761538476.448 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:36.452Z,1761538476.452 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.553508 2025-10-27T04:14:36.517Z,1761538476.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089886,0.989778,0.110730],[-0.995812,0.087448,0.026684],[0.016728,-0.112664,0.993492]] 2025-10-27T04:14:36.621Z,1761538476.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503973 s, deltaX: 0.200000 m, approachRate: 0.396847 m/s, rangeRepo size: 4 2025-10-27T04:14:36.624Z,1761538476.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.288856 m, bearing: 108.078736 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.503973 s, deltaX: 0.199031 m, approachRate: 0.394924 m/s, posRepo size: 4 2025-10-27T04:14:36.689Z,1761538476.689 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.790589 2025-10-27T04:14:36.921Z,1761538476.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097824,0.989364,0.107654],[-0.995107,0.095736,0.024409],[0.013843,-0.109515,0.993889]] 2025-10-27T04:14:36.941Z,1761538476.941 [DAT](INFO): DAT read: Rx Time:04:14:35.6635 2025-10-27T04:14:36.941Z,1761538476.941 [DAT](INFO): Rx dataTimestamp_ set to:1761538476.940713 2025-10-27T04:14:36.942Z,1761538476.942 [DAT](INFO): DAT read: Bearing 194.8, 11.7 (Local) 2025-10-27T04:14:36.943Z,1761538476.943 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 11.7 (Local) 2025-10-27T04:14:36.945Z,1761538476.945 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.1 2025-10-27T04:14:36.949Z,1761538476.949 [DAT](INFO): DAT read: 04:14:35.6635 LVL= 32752, 18033, 18546, 26035, AGC= 49, IDX= 498, 0.11, 2.526, 2.981, 2.023,-2.515, PHS=-1.140,-0.742,-1.789, RAW= 7.9, 54.8, CAL= 6.8, 58.5, ROT= 143.2, -58.5 2025-10-27T04:14:36.950Z,1761538476.950 [DAT](INFO): got valid direction response: 04:14:35.6635 LVL= 32752, 18033, 18546, 26035, AGC= 49, IDX= 498, 0.11, 2.526, 2.981, 2.023,-2.515, PHS=-1.140,-0.742,-1.789, RAW= 7.9, 54.8, CAL= 6.8, 58.5, ROT= 143.2, -58.5 2025-10-27T04:14:36.951Z,1761538476.951 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T04:14:36.952Z,1761538476.952 [DAT](INFO): direction in FSK: [-0.418381,0.312989,0.852640] 2025-10-27T04:14:36.952Z,1761538476.952 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:36.960Z,1761538476.960 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.062157 2025-10-27T04:14:37.030Z,1761538477.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504026 s, deltaX: -0.300000 m, approachRate: -0.595207 m/s, rangeRepo size: 4 2025-10-27T04:14:37.041Z,1761538477.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.990299 m, bearing: 52.338573 deg, lat: 36.779371 deg, lon: -121.859541 deg, deltaT: 0.504026 s, deltaX: -0.298557 m, approachRate: -0.592344 m/s, posRepo size: 4 2025-10-27T04:14:37.192Z,1761538477.192 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.293722 2025-10-27T04:14:37.329Z,1761538477.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105302,0.989059,0.103317],[-0.994380,0.103579,0.021917],[0.010976,-0.105044,0.994407]] 2025-10-27T04:14:37.389Z,1761538477.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:37.445Z,1761538477.445 [DAT](INFO): DAT read: Rx Time:04:14:36.1636 2025-10-27T04:14:37.446Z,1761538477.446 [DAT](INFO): Rx dataTimestamp_ set to:1761538477.445434 2025-10-27T04:14:37.448Z,1761538477.448 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.1 2025-10-27T04:14:37.449Z,1761538477.449 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-27T04:14:37.450Z,1761538477.450 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.551554 2025-10-27T04:14:37.696Z,1761538477.696 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.798243 2025-10-27T04:14:37.761Z,1761538477.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504721 s, deltaX: 0.100000 m, approachRate: 0.198129 m/s, rangeRepo size: 4 2025-10-27T04:14:37.761Z,1761538477.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m. 2025-10-27T04:14:37.948Z,1761538477.948 [DAT](INFO): DAT read: Rx Time:04:14:36.6633 2025-10-27T04:14:37.949Z,1761538477.949 [DAT](INFO): Rx dataTimestamp_ set to:1761538477.948325 2025-10-27T04:14:37.950Z,1761538477.950 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.2 2025-10-27T04:14:37.950Z,1761538477.950 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-27T04:14:37.951Z,1761538477.951 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.053145 2025-10-27T04:14:38.135Z,1761538478.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118177,0.987406,0.105186],[-0.992974,0.116857,0.018652],[0.006126,-0.106652,0.994278]] 2025-10-27T04:14:38.160Z,1761538478.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502891 s, deltaX: -0.400000 m, approachRate: -0.795401 m/s, rangeRepo size: 4 2025-10-27T04:14:38.201Z,1761538478.201 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.302931 2025-10-27T04:14:38.452Z,1761538478.452 [DAT](INFO): DAT read: Rx Time:04:14:37.1634 2025-10-27T04:14:38.452Z,1761538478.452 [DAT](INFO): Rx dataTimestamp_ set to:1761538478.452205 2025-10-27T04:14:38.454Z,1761538478.454 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:38.454Z,1761538478.454 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-27T04:14:38.455Z,1761538478.455 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.556997 2025-10-27T04:14:38.537Z,1761538478.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137618,0.986004,0.094120],[-0.990480,0.136667,0.016510],[0.003416,-0.095496,0.995424]] 2025-10-27T04:14:38.589Z,1761538478.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503880 s, deltaX: 0.100000 m, approachRate: 0.198460 m/s, rangeRepo size: 4 2025-10-27T04:14:38.589Z,1761538478.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m. 2025-10-27T04:14:38.705Z,1761538478.705 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.806422 2025-10-27T04:14:38.942Z,1761538478.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177090,0.980897,0.080494],[-0.984194,0.176623,0.012945],[-0.001519,-0.081515,0.996671]] 2025-10-27T04:14:38.956Z,1761538478.956 [DAT](INFO): DAT read: Rx Time:04:14:37.6634 2025-10-27T04:14:38.957Z,1761538478.957 [DAT](INFO): Rx dataTimestamp_ set to:1761538478.956408 2025-10-27T04:14:38.958Z,1761538478.958 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:38.958Z,1761538478.958 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-27T04:14:38.959Z,1761538478.959 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.061221 2025-10-27T04:14:38.970Z,1761538478.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504203 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:38.970Z,1761538478.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.80 m. 2025-10-27T04:14:39.208Z,1761538479.208 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.309612 2025-10-27T04:14:39.354Z,1761538479.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223385,0.972639,0.063820],[-0.974696,0.223445,0.006279],[-0.008153,-0.063608,0.997942]] 2025-10-27T04:14:39.418Z,1761538479.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:39.420Z,1761538479.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m. 2025-10-27T04:14:39.462Z,1761538479.462 [DAT](INFO): DAT read: Rx Time:04:14:38.1633 2025-10-27T04:14:39.462Z,1761538479.462 [DAT](INFO): Rx dataTimestamp_ set to:1761538479.461794 2025-10-27T04:14:39.464Z,1761538479.464 [DAT](INFO): DAT read: Bearing 126.1, 38.4 (Local) 2025-10-27T04:14:39.465Z,1761538479.465 [DAT](INFO): Local bearing/azimuth received: Bearing 126.1, 38.4 (Local) 2025-10-27T04:14:39.468Z,1761538479.468 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:39.475Z,1761538479.475 [DAT](INFO): DAT read: 04:14:38.1633 LVL= 28480, 32753, 32754, 32755, AGC= 50, IDX= 514,-0.28,-2.859, 1.791, 2.259, 3.126, PHS= 0.400,-1.290,-0.911, RAW= 102.3, 22.5, CAL= 102.2, 27.5, ROT= 47.8, -27.5 2025-10-27T04:14:39.476Z,1761538479.476 [DAT](INFO): got valid direction response: 04:14:38.1633 LVL= 28480, 32753, 32754, 32755, AGC= 50, IDX= 514,-0.28,-2.859, 1.791, 2.259, 3.126, PHS= 0.400,-1.290,-0.911, RAW= 102.3, 22.5, CAL= 102.2, 27.5, ROT= 47.8, -27.5 2025-10-27T04:14:39.477Z,1761538479.477 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T04:14:39.478Z,1761538479.478 [DAT](INFO): direction in FSK: [0.595823,0.657102,0.461749] 2025-10-27T04:14:39.478Z,1761538479.478 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:39.508Z,1761538479.508 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.609609 2025-10-27T04:14:39.713Z,1761538479.713 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.814149 2025-10-27T04:14:39.750Z,1761538479.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260804,0.964205,0.047861],[-0.965320,0.261068,0.000765],[-0.011758,-0.046401,0.998854]] 2025-10-27T04:14:39.798Z,1761538479.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.505386 s, deltaX: -0.100000 m, approachRate: -0.197868 m/s, rangeRepo size: 4 2025-10-27T04:14:39.801Z,1761538479.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.691734 m, bearing: 333.563806 deg, lat: 36.779371 deg, lon: -121.859543 deg, deltaT: 2.521081 s, deltaX: -0.298565 m, approachRate: -0.118428 m/s, posRepo size: 4 2025-10-27T04:14:39.801Z,1761538479.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.70 m. 2025-10-27T04:14:39.801Z,1761538479.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.70 m. 2025-10-27T04:14:39.802Z,1761538479.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present. 2025-10-27T04:14:39.964Z,1761538479.964 [DAT](INFO): DAT read: Rx Time:04:14:38.6633 2025-10-27T04:14:39.965Z,1761538479.965 [DAT](INFO): Rx dataTimestamp_ set to:1761538479.964248 2025-10-27T04:14:39.966Z,1761538479.966 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:39.966Z,1761538479.966 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-27T04:14:39.972Z,1761538479.972 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.073720 2025-10-27T04:14:40.154Z,1761538480.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289726,0.956590,0.031538],[-0.957013,0.290008,-0.004666],[-0.013610,-0.028830,0.999492]] 2025-10-27T04:14:40.173Z,1761538480.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502454 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:40.188Z,1761538480.188 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T04:14:40.217Z,1761538480.217 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.318269 2025-10-27T04:14:40.468Z,1761538480.468 [DAT](INFO): DAT read: Rx Time:04:14:39.1634 2025-10-27T04:14:40.469Z,1761538480.469 [DAT](INFO): Rx dataTimestamp_ set to:1761538480.468279 2025-10-27T04:14:40.470Z,1761538480.470 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:40.470Z,1761538480.470 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-10-27T04:14:40.471Z,1761538480.471 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.573123 2025-10-27T04:14:40.557Z,1761538480.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313477,0.949570,0.007048],[-0.949477,0.313546,-0.013518],[-0.015046,-0.002454,0.999884]] 2025-10-27T04:14:40.610Z,1761538480.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504031 s, deltaX: 0.100000 m, approachRate: 0.198400 m/s, rangeRepo size: 4 2025-10-27T04:14:40.721Z,1761538480.721 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.822260 2025-10-27T04:14:40.972Z,1761538480.972 [DAT](INFO): DAT read: Rx Time:04:14:39.6633 2025-10-27T04:14:40.973Z,1761538480.973 [DAT](INFO): Rx dataTimestamp_ set to:1761538480.972230 2025-10-27T04:14:40.974Z,1761538480.974 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:40.974Z,1761538480.974 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-27T04:14:40.975Z,1761538480.975 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.077131 2025-10-27T04:14:41.053Z,1761538481.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335344,0.941907,-0.018864],[-0.941971,0.334907,-0.022972],[-0.015320,0.025472,0.999558]] 2025-10-27T04:14:41.102Z,1761538481.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503951 s, deltaX: -0.100000 m, approachRate: -0.198432 m/s, rangeRepo size: 4 2025-10-27T04:14:41.227Z,1761538481.227 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.328520 2025-10-27T04:14:41.438Z,1761538481.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359263,0.932878,-0.025843],[-0.933145,0.358702,-0.023953],[-0.013076,0.032721,0.999379]] 2025-10-27T04:14:41.476Z,1761538481.476 [DAT](INFO): DAT read: Rx Time:04:14:40.1634 2025-10-27T04:14:41.477Z,1761538481.477 [DAT](INFO): Rx dataTimestamp_ set to:1761538481.476336 2025-10-27T04:14:41.478Z,1761538481.478 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:41.478Z,1761538481.478 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-27T04:14:41.479Z,1761538481.479 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.581145 2025-10-27T04:14:41.514Z,1761538481.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:41.521Z,1761538481.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504106 s, deltaX: 0.100000 m, approachRate: 0.198371 m/s, rangeRepo size: 4 2025-10-27T04:14:41.728Z,1761538481.728 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.829744 2025-10-27T04:14:41.853Z,1761538481.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387609,0.921735,-0.012849],[-0.921783,0.387423,-0.014799],[-0.008663,0.017580,0.999808]] 2025-10-27T04:14:41.982Z,1761538481.982 [DAT](INFO): DAT read: Rx Time:04:14:40.6633 2025-10-27T04:14:41.983Z,1761538481.983 [DAT](INFO): Rx dataTimestamp_ set to:1761538481.982494 2025-10-27T04:14:41.984Z,1761538481.984 [DAT](INFO): DAT read: Bearing 145.8, 39.8 (Local) 2025-10-27T04:14:41.984Z,1761538481.984 [DAT](INFO): Local bearing/azimuth received: Bearing 145.8, 39.8 (Local) 2025-10-27T04:14:41.986Z,1761538481.986 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:41.992Z,1761538481.992 [DAT](INFO): DAT read: 04:14:40.6633 LVL= 25584, 32753, 31874, 32755, AGC= 47, IDX= 513,-0.48,-0.642,-2.340,-1.940,-0.768, PHS= 0.228,-1.527,-1.217, RAW= 99.5, 28.7, CAL= 98.0, 35.6, ROT= 52.0, -35.6 2025-10-27T04:14:41.994Z,1761538481.994 [DAT](INFO): got valid direction response: 04:14:40.6633 LVL= 25584, 32753, 31874, 32755, AGC= 47, IDX= 513,-0.48,-0.642,-2.340,-1.940,-0.768, PHS= 0.228,-1.527,-1.217, RAW= 99.5, 28.7, CAL= 98.0, 35.6, ROT= 52.0, -35.6 2025-10-27T04:14:41.994Z,1761538481.994 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T04:14:41.000Z,1761538482.000 [DAT](INFO): direction in FSK: [0.500595,0.640732,0.582123] 2025-10-27T04:14:42.001Z,1761538482.001 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:42.010Z,1761538482.010 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.112138 2025-10-27T04:14:42.232Z,1761538482.232 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.333707 2025-10-27T04:14:42.377Z,1761538482.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.506158 s, deltaX: -0.100000 m, approachRate: -0.197567 m/s, rangeRepo size: 4 2025-10-27T04:14:42.386Z,1761538482.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.691718 m, bearing: 344.069561 deg, lat: 36.779378 deg, lon: -121.859554 deg, deltaT: 2.520700 s, deltaX: -0.000015 m, approachRate: -0.000006 m/s, posRepo size: 4 2025-10-27T04:14:42.485Z,1761538482.485 [DAT](INFO): DAT read: Rx Time:04:14:41.1634 2025-10-27T04:14:42.486Z,1761538482.486 [DAT](INFO): Rx dataTimestamp_ set to:1761538482.485359 2025-10-27T04:14:42.487Z,1761538482.487 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:42.488Z,1761538482.488 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-27T04:14:42.489Z,1761538482.489 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.590373 2025-10-27T04:14:42.679Z,1761538482.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455113,0.890150,-0.022465],[-0.890314,0.455321,0.004933],[0.014620,0.017756,0.999735]] 2025-10-27T04:14:42.736Z,1761538482.736 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.837946 2025-10-27T04:14:42.739Z,1761538482.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.502865 s, deltaX: 0.100000 m, approachRate: 0.198860 m/s, rangeRepo size: 4 2025-10-27T04:14:42.988Z,1761538482.988 [DAT](INFO): DAT read: Rx Time:04:14:41.6633 2025-10-27T04:14:42.989Z,1761538482.989 [DAT](INFO): Rx dataTimestamp_ set to:1761538482.988652 2025-10-27T04:14:42.990Z,1761538482.990 [DAT](INFO): DAT read: Bearing 164.3, 49.9 (Local) 2025-10-27T04:14:42.991Z,1761538482.991 [DAT](INFO): Local bearing/azimuth received: Bearing 164.3, 49.9 (Local) 2025-10-27T04:14:42.993Z,1761538482.993 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:42.998Z,1761538482.998 [DAT](INFO): DAT read: 04:14:41.6633 LVL= 31520, 32753, 32754, 32755, AGC= 48, IDX= 513, 0.16, 1.492,-0.107,-0.195, 1.280, PHS= 0.314,-1.342,-1.519, RAW= 85.0, 27.2, CAL= 83.0, 34.9, ROT= 67.0, -34.9 2025-10-27T04:14:42.999Z,1761538482.999 [DAT](INFO): got valid direction response: 04:14:41.6633 LVL= 31520, 32753, 32754, 32755, AGC= 48, IDX= 513, 0.16, 1.492,-0.107,-0.195, 1.280, PHS= 0.314,-1.342,-1.519, RAW= 85.0, 27.2, CAL= 83.0, 34.9, ROT= 67.0, -34.9 2025-10-27T04:14:42.999Z,1761538482.999 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T04:14:43.000Z,1761538483.000 [DAT](INFO): direction in FSK: [0.320459,0.754954,0.572146] 2025-10-27T04:14:43.001Z,1761538483.001 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:43.004Z,1761538483.004 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.106087 2025-10-27T04:14:43.093Z,1761538483.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495424,0.868487,-0.016892],[-0.868169,0.495704,0.023683],[0.028942,0.002932,0.999577]] 2025-10-27T04:14:43.133Z,1761538483.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503293 s, deltaX: -0.100000 m, approachRate: -0.198691 m/s, rangeRepo size: 4 2025-10-27T04:14:43.139Z,1761538483.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.691714 m, bearing: 7.753296 deg, lat: 36.779386 deg, lon: -121.859586 deg, deltaT: 1.006158 s, deltaX: -0.000004 m, approachRate: -0.000004 m/s, posRepo size: 4 2025-10-27T04:14:43.245Z,1761538483.245 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.346826 2025-10-27T04:14:43.485Z,1761538483.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534205,0.845301,-0.009572],[-0.844220,0.534040,0.045760],[0.043792,-0.016364,0.998907]] 2025-10-27T04:14:43.496Z,1761538483.496 [DAT](INFO): DAT read: Rx Time:04:14:42.1633 2025-10-27T04:14:43.497Z,1761538483.497 [DAT](INFO): Rx dataTimestamp_ set to:1761538483.496366 2025-10-27T04:14:43.498Z,1761538483.498 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:43.498Z,1761538483.498 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-27T04:14:43.499Z,1761538483.499 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.601197 2025-10-27T04:14:43.587Z,1761538483.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:43.590Z,1761538483.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.507714 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:43.748Z,1761538483.748 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849641 2025-10-27T04:14:43.915Z,1761538483.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569556,0.821930,-0.006012],[-0.819963,0.568671,0.065385],[0.057161,-0.032311,0.997842]] 2025-10-27T04:14:44.001Z,1761538484.001 [DAT](INFO): DAT read: Rx Time:04:14:42.6632 2025-10-27T04:14:44.001Z,1761538484.001 [DAT](INFO): Rx dataTimestamp_ set to:1761538484.001122 2025-10-27T04:14:44.003Z,1761538484.003 [DAT](INFO): DAT read: Bearing 158.1, -0.5 (Local) 2025-10-27T04:14:44.003Z,1761538484.003 [DAT](INFO): Local bearing/azimuth received: Bearing 158.1, -0.5 (Local) 2025-10-27T04:14:44.005Z,1761538484.005 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:14:44.015Z,1761538484.015 [DAT](INFO): DAT read: 04:14:42.6632 LVL= 32752, 32753, 30178, 32755, AGC= 50, IDX= 513,-0.24, 2.135, 0.644, 2.149, 2.725, PHS=-0.488,-2.036,-0.620, RAW= 145.6, 36.8, CAL= 150.9, 47.9, ROT= 359.1, -47.9 2025-10-27T04:14:44.016Z,1761538484.016 [DAT](INFO): got valid direction response: 04:14:42.6632 LVL= 32752, 32753, 30178, 32755, AGC= 50, IDX= 513,-0.24, 2.135, 0.644, 2.149, 2.725, PHS=-0.488,-2.036,-0.620, RAW= 145.6, 36.8, CAL= 150.9, 47.9, ROT= 359.1, -47.9 2025-10-27T04:14:44.017Z,1761538484.017 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T04:14:44.018Z,1761538484.018 [DAT](INFO): direction in FSK: [0.670344,-0.010530,0.741976] 2025-10-27T04:14:44.018Z,1761538484.018 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:44.042Z,1761538484.042 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.143823 2025-10-27T04:14:44.252Z,1761538484.252 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353689 2025-10-27T04:14:44.322Z,1761538484.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601537,0.798815,-0.006885],[-0.795933,0.600057,0.080143],[0.068151,-0.042729,0.996760]] 2025-10-27T04:14:44.431Z,1761538484.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504756 s, deltaX: -0.200000 m, approachRate: -0.396231 m/s, rangeRepo size: 4 2025-10-27T04:14:44.433Z,1761538484.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.492689 m, bearing: 309.049890 deg, lat: 36.779386 deg, lon: -121.859586 deg, deltaT: 1.012470 s, deltaX: -0.199025 m, approachRate: -0.196574 m/s, posRepo size: 4 2025-10-27T04:14:44.504Z,1761538484.504 [DAT](INFO): DAT read: Rx Time:04:14:43.1633 2025-10-27T04:14:44.505Z,1761538484.505 [DAT](INFO): Rx dataTimestamp_ set to:1761538484.504350 2025-10-27T04:14:44.506Z,1761538484.506 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:44.506Z,1761538484.506 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-10-27T04:14:44.507Z,1761538484.507 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.609151 2025-10-27T04:14:44.756Z,1761538484.756 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857924 2025-10-27T04:14:44.853Z,1761538484.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657795,0.752809,-0.024173],[-0.748247,0.656808,0.093430],[0.086212,-0.043370,0.995332]] 2025-10-27T04:14:44.916Z,1761538484.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503228 s, deltaX: 0.200000 m, approachRate: 0.397434 m/s, rangeRepo size: 4 2025-10-27T04:14:45.008Z,1761538485.008 [DAT](INFO): DAT read: Rx Time:04:14:43.6632 2025-10-27T04:14:45.009Z,1761538485.009 [DAT](INFO): Rx dataTimestamp_ set to:1761538485.008424 2025-10-27T04:14:45.010Z,1761538485.010 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:14:45.010Z,1761538485.010 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-27T04:14:45.012Z,1761538485.012 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.113248 2025-10-27T04:14:45.249Z,1761538485.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687577,0.724559,-0.047464],[-0.720295,0.688867,0.081469],[0.091726,-0.021829,0.995545]] 2025-10-27T04:14:45.260Z,1761538485.260 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.361769 2025-10-27T04:14:45.313Z,1761538485.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504074 s, deltaX: -0.200000 m, approachRate: -0.396767 m/s, rangeRepo size: 4 2025-10-27T04:14:45.512Z,1761538485.512 [DAT](INFO): DAT read: Rx Time:04:14:44.1633 2025-10-27T04:14:45.513Z,1761538485.513 [DAT](INFO): Rx dataTimestamp_ set to:1761538485.512250 2025-10-27T04:14:45.514Z,1761538485.514 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:45.514Z,1761538485.514 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-27T04:14:45.515Z,1761538485.515 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.617048 2025-10-27T04:14:45.764Z,1761538485.764 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.865713 2025-10-27T04:14:45.851Z,1761538485.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719998,0.689279,-0.080601],[-0.687988,0.724180,0.047294],[0.090969,0.021401,0.995624]] 2025-10-27T04:14:45.919Z,1761538485.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:45.922Z,1761538485.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503826 s, deltaX: 0.200000 m, approachRate: 0.396963 m/s, rangeRepo size: 4 2025-10-27T04:14:46.017Z,1761538486.017 [DAT](INFO): DAT read: Rx Time:04:14:44.6633 2025-10-27T04:14:46.017Z,1761538486.017 [DAT](INFO): Rx dataTimestamp_ set to:1761538486.017004 2025-10-27T04:14:46.019Z,1761538486.019 [DAT](INFO): DAT read: Bearing 174.1, 29.8 (Local) 2025-10-27T04:14:46.019Z,1761538486.019 [DAT](INFO): Local bearing/azimuth received: Bearing 174.1, 29.8 (Local) 2025-10-27T04:14:46.021Z,1761538486.021 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:46.039Z,1761538486.039 [DAT](INFO): DAT read: 04:14:44.6633 LVL= 29360, 32753, 32754, 31187, AGC= 46, IDX= 514,-0.46,-0.661,-2.574,-1.661,-0.406, PHS=-0.153,-2.123,-1.299, RAW= 114.6, 36.4, CAL= 112.0, 44.0, ROT= 38.0, -44.0 2025-10-27T04:14:46.041Z,1761538486.041 [DAT](INFO): got valid direction response: 04:14:44.6633 LVL= 29360, 32753, 32754, 31187, AGC= 46, IDX= 514,-0.46,-0.661,-2.574,-1.661,-0.406, PHS=-0.153,-2.123,-1.299, RAW= 114.6, 36.4, CAL= 112.0, 44.0, ROT= 38.0, -44.0 2025-10-27T04:14:46.041Z,1761538486.041 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T04:14:46.042Z,1761538486.042 [DAT](INFO): direction in FSK: [0.566847,0.442870,0.694658] 2025-10-27T04:14:46.042Z,1761538486.042 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:46.046Z,1761538486.046 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.147630 2025-10-27T04:14:46.259Z,1761538486.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748559,0.658318,-0.079226],[-0.656827,0.752557,0.047300],[0.090760,0.016631,0.995734]] 2025-10-27T04:14:46.280Z,1761538486.280 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.381497 2025-10-27T04:14:46.318Z,1761538486.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:14:46.325Z,1761538486.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.691746 m, bearing: 359.464279 deg, lat: 36.779389 deg, lon: -121.859586 deg, deltaT: 2.015882 s, deltaX: 0.199057 m, approachRate: 0.098744 m/s, posRepo size: 4 2025-10-27T04:14:46.326Z,1761538486.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.70 m. Lat: 36.779389 Lon: -121.859586 Cable present. 2025-10-27T04:14:46.326Z,1761538486.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-10-27T04:14:46.326Z,1761538486.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-27T04:14:46.331Z,1761538486.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2025-10-27T04:14:46.529Z,1761538486.529 [DAT](INFO): DAT read: Rx Time:04:14:45.1634 2025-10-27T04:14:46.529Z,1761538486.529 [DAT](INFO): Rx dataTimestamp_ set to:1761538486.529152 2025-10-27T04:14:46.531Z,1761538486.531 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:46.532Z,1761538486.532 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-27T04:14:46.534Z,1761538486.534 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.635272 2025-10-27T04:14:46.783Z,1761538486.783 [DAT](INFO): DAT read: Rx Time:04:14:45.6633 2025-10-27T04:14:46.785Z,1761538486.785 [DAT](INFO): Rx dataTimestamp_ set to:1761538486.783758 2025-10-27T04:14:46.788Z,1761538486.788 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.888106 2025-10-27T04:14:46.866Z,1761538486.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete. 2025-10-27T04:14:46.866Z,1761538486.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2025-10-27T04:14:46.867Z,1761538486.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1 2025-10-27T04:14:47.033Z,1761538487.033 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:47.033Z,1761538487.033 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-27T04:14:47.034Z,1761538487.034 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.135847 2025-10-27T04:14:47.181Z,1761538487.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790475,0.608552,-0.069381],[-0.608680,0.793118,0.021730],[0.068252,0.025054,0.997353]] 2025-10-27T04:14:47.200Z,1761538487.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped 2025-10-27T04:14:47.201Z,1761538487.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T04:14:47.201Z,1761538487.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-27T04:14:47.201Z,1761538487.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T04:14:47.201Z,1761538487.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-27T04:14:47.201Z,1761538487.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T04:14:47.201Z,1761538487.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-27T04:14:47.201Z,1761538487.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-27T04:14:47.201Z,1761538487.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-27T04:14:47.202Z,1761538487.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-27T04:14:47.202Z,1761538487.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T04:14:47.304Z,1761538487.304 [DAT](INFO): DAT read: Rx Time:04:14:46.1633 2025-10-27T04:14:47.304Z,1761538487.304 [DAT](INFO): Rx dataTimestamp_ set to:1761538487.303698 2025-10-27T04:14:47.305Z,1761538487.305 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:47.306Z,1761538487.306 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-27T04:14:47.311Z,1761538487.311 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.412882 2025-10-27T04:14:47.536Z,1761538487.536 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.637569 2025-10-27T04:14:47.589Z,1761538487.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800472,0.596901,-0.054347],[-0.597112,0.802034,0.014055],[0.051977,0.021200,0.998423]] 2025-10-27T04:14:47.642Z,1761538487.642 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-10-27T04:14:47.642Z,1761538487.642 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-27T04:14:47.642Z,1761538487.642 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-27T04:14:47.642Z,1761538487.642 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-27T04:14:47.643Z,1761538487.643 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1 2025-10-27T04:14:47.643Z,1761538487.643 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-27T04:14:47.643Z,1761538487.643 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings. 2025-10-27T04:14:47.643Z,1761538487.643 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped 2025-10-27T04:14:47.644Z,1761538487.644 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1 2025-10-27T04:14:47.645Z,1761538487.645 [lineCaptureHoming:LineCapture:HomingSequence] Stopped 2025-10-27T04:14:47.645Z,1761538487.645 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-27T04:14:47.645Z,1761538487.645 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped 2025-10-27T04:14:47.645Z,1761538487.645 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-27T04:14:47.645Z,1761538487.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-27T04:14:47.645Z,1761538487.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T04:14:47.645Z,1761538487.645 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1 2025-10-27T04:14:47.645Z,1761538487.645 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component. 2025-10-27T04:14:47.790Z,1761538487.790 [DAT](INFO): DAT read: Rx Time:04:14:46.6632 2025-10-27T04:14:47.792Z,1761538487.792 [DAT](INFO): Rx dataTimestamp_ set to:1761538487.791617 2025-10-27T04:14:47.793Z,1761538487.793 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:14:47.794Z,1761538487.794 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T04:14:47.795Z,1761538487.795 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.896358 2025-10-27T04:14:47.990Z,1761538487.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804862,0.592354,-0.036245],[-0.592535,0.805517,0.006690],[0.033159,0.016092,0.999321]] 2025-10-27T04:14:48.022Z,1761538488.022 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped 2025-10-27T04:14:48.022Z,1761538488.022 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1 2025-10-27T04:14:48.023Z,1761538488.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:48.040Z,1761538488.040 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.141787 2025-10-27T04:14:48.292Z,1761538488.292 [DAT](INFO): DAT read: Rx Time:04:14:47.1634 2025-10-27T04:14:48.293Z,1761538488.293 [DAT](INFO): Rx dataTimestamp_ set to:1761538488.292329 2025-10-27T04:14:48.294Z,1761538488.294 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:48.294Z,1761538488.294 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-27T04:14:48.295Z,1761538488.295 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.397135 2025-10-27T04:14:48.414Z,1761538488.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803728,0.594326,-0.028245],[-0.594859,0.803658,-0.016636],[0.012812,0.030173,0.999463]] 2025-10-27T04:14:48.479Z,1761538488.479 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped 2025-10-27T04:14:48.480Z,1761538488.480 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-27T04:14:48.480Z,1761538488.480 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped 2025-10-27T04:14:48.545Z,1761538488.545 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.646887 2025-10-27T04:14:48.797Z,1761538488.797 [DAT](INFO): DAT read: Rx Time:04:14:47.6633 2025-10-27T04:14:48.797Z,1761538488.797 [DAT](INFO): Rx dataTimestamp_ set to:1761538488.796739 2025-10-27T04:14:48.798Z,1761538488.798 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:48.799Z,1761538488.799 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-27T04:14:48.800Z,1761538488.800 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.901525 2025-10-27T04:14:48.807Z,1761538488.807 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:14:48.811Z,1761538488.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797013,0.603838,-0.012243],[-0.603933,0.796614,-0.025896],[-0.005884,0.028034,0.999590]] 2025-10-27T04:14:49.048Z,1761538489.048 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.150133 2025-10-27T04:14:49.202Z,1761538489.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783860,0.620935,0.001828],[-0.620507,0.783423,-0.034931],[-0.023121,0.026247,0.999388]] 2025-10-27T04:14:49.300Z,1761538489.300 [DAT](INFO): DAT read: Rx Time:04:14:48.1634 2025-10-27T04:14:49.301Z,1761538489.301 [DAT](INFO): Rx dataTimestamp_ set to:1761538489.300293 2025-10-27T04:14:49.302Z,1761538489.302 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:49.302Z,1761538489.302 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-27T04:14:49.303Z,1761538489.303 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.405102 2025-10-27T04:14:49.552Z,1761538489.552 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.653677 2025-10-27T04:14:49.606Z,1761538489.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764297,0.644712,0.014038],[-0.643597,0.763978,-0.046055],[-0.040417,0.026165,0.998840]] 2025-10-27T04:14:49.804Z,1761538489.804 [DAT](INFO): DAT read: Rx Time:04:14:48.6633 2025-10-27T04:14:49.805Z,1761538489.805 [DAT](INFO): Rx dataTimestamp_ set to:1761538489.804263 2025-10-27T04:14:49.806Z,1761538489.806 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:49.806Z,1761538489.806 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-27T04:14:49.807Z,1761538489.807 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.909082 2025-10-27T04:14:49.811Z,1761538489.811 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:14:50.009Z,1761538490.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740591,0.671477,0.025385],[-0.669464,0.740568,-0.058112],[-0.057820,0.026043,0.997987]] 2025-10-27T04:14:50.034Z,1761538490.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:50.063Z,1761538490.063 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.165096 2025-10-27T04:14:50.308Z,1761538490.308 [DAT](INFO): DAT read: Rx Time:04:14:49.1634 2025-10-27T04:14:50.309Z,1761538490.309 [DAT](INFO): Rx dataTimestamp_ set to:1761538490.308268 2025-10-27T04:14:50.310Z,1761538490.310 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:50.310Z,1761538490.310 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-27T04:14:50.311Z,1761538490.311 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.413074 2025-10-27T04:14:50.561Z,1761538490.561 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.661966 2025-10-27T04:14:50.812Z,1761538490.812 [DAT](INFO): DAT read: Rx Time:04:14:49.6633 2025-10-27T04:14:50.813Z,1761538490.813 [DAT](INFO): Rx dataTimestamp_ set to:1761538490.812355 2025-10-27T04:14:50.814Z,1761538490.814 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:50.814Z,1761538490.814 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-27T04:14:50.816Z,1761538490.816 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.918129 2025-10-27T04:14:50.824Z,1761538490.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679222,0.732248,0.049708],[-0.729108,0.680960,-0.068520],[-0.084023,0.010298,0.996411]] 2025-10-27T04:14:51.064Z,1761538491.064 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.165705 2025-10-27T04:14:51.266Z,1761538491.266 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting. 2025-10-27T04:14:51.266Z,1761538491.266 [lineCaptureHoming:LineCapture:L.Wait] Stopped 2025-10-27T04:14:51.267Z,1761538491.267 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component. 2025-10-27T04:14:51.267Z,1761538491.267 [lineCaptureHoming:LineCapture:M] Running Loop=1 2025-10-27T04:14:51.316Z,1761538491.316 [DAT](INFO): DAT read: Rx Time:04:14:50.1633 2025-10-27T04:14:51.317Z,1761538491.317 [DAT](INFO): Rx dataTimestamp_ set to:1761538491.316878 2025-10-27T04:14:51.319Z,1761538491.319 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:51.320Z,1761538491.320 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-27T04:14:51.321Z,1761538491.321 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.422508 2025-10-27T04:14:51.568Z,1761538491.568 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.669579 2025-10-27T04:14:51.625Z,1761538491.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608385,0.792344,0.045372],[-0.789052,0.610017,-0.072641],[-0.085235,0.008393,0.996326]] 2025-10-27T04:14:51.701Z,1761538491.701 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 2025-10-27T04:14:51.701Z,1761538491.701 [lineCaptureHoming:LineCapture:M] Stopped 2025-10-27T04:14:51.704Z,1761538491.704 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture 2025-10-27T04:14:51.704Z,1761538491.704 [lineCaptureHoming:LineCapture] Stopped 2025-10-27T04:14:51.704Z,1761538491.704 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture 2025-10-27T04:14:51.705Z,1761538491.705 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped 2025-10-27T04:14:51.705Z,1761538491.705 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-27T04:14:51.705Z,1761538491.705 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-27T04:14:51.705Z,1761538491.705 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-27T04:14:51.705Z,1761538491.705 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-27T04:14:51.705Z,1761538491.705 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-27T04:14:51.705Z,1761538491.705 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-27T04:14:51.705Z,1761538491.705 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-27T04:14:51.705Z,1761538491.705 [lineCaptureHoming:LineCapture:G] Stopped 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:H] Stopped 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:HoldMass] Stopped 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize. 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T04:14:51.706Z,1761538491.706 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T04:14:51.820Z,1761538491.820 [DAT](INFO): DAT read: Rx Time:04:14:50.6633 2025-10-27T04:14:51.821Z,1761538491.821 [DAT](INFO): Rx dataTimestamp_ set to:1761538491.820354 2025-10-27T04:14:51.822Z,1761538491.822 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:51.822Z,1761538491.822 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-27T04:14:51.823Z,1761538491.823 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.925167 2025-10-27T04:14:52.029Z,1761538492.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572594,0.819034,0.036321],[-0.816492,0.573695,-0.064920],[-0.074009,0.007517,0.997229]] 2025-10-27T04:14:52.072Z,1761538492.072 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.173704 2025-10-27T04:14:52.086Z,1761538492.086 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B 2025-10-27T04:14:52.086Z,1761538492.086 [lineCaptureHoming:Lap:B] Stopped 2025-10-27T04:14:52.086Z,1761538492.086 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B 2025-10-27T04:14:52.086Z,1761538492.086 [lineCaptureHoming:Lap:C] Running Loop=1 2025-10-27T04:14:52.091Z,1761538492.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:52.324Z,1761538492.324 [DAT](INFO): DAT read: Rx Time:04:14:51.1634 2025-10-27T04:14:52.324Z,1761538492.324 [DAT](INFO): Rx dataTimestamp_ set to:1761538492.324206 2025-10-27T04:14:52.326Z,1761538492.326 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:52.326Z,1761538492.326 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-27T04:14:52.327Z,1761538492.327 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.428991 2025-10-27T04:14:52.445Z,1761538492.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509973,0.860091,0.013069],[-0.859272,0.510072,-0.038451],[-0.039738,0.008379,0.999175]] 2025-10-27T04:14:52.525Z,1761538492.525 [lineCaptureHoming:Lap:C] Stopped 2025-10-27T04:14:52.525Z,1761538492.525 [lineCaptureHoming:Lap:D] Running Loop=1 2025-10-27T04:14:52.577Z,1761538492.577 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.678347 2025-10-27T04:14:52.829Z,1761538492.829 [DAT](INFO): DAT read: Rx Time:04:14:51.6633 2025-10-27T04:14:52.829Z,1761538492.829 [DAT](INFO): Rx dataTimestamp_ set to:1761538492.828974 2025-10-27T04:14:52.830Z,1761538492.830 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:52.831Z,1761538492.831 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T04:14:52.835Z,1761538492.835 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.935535 2025-10-27T04:14:52.887Z,1761538492.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485463,0.874249,0.003886],[-0.874009,0.485426,-0.021666],[-0.020828,0.007121,0.999758]] 2025-10-27T04:14:52.959Z,1761538492.959 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 2025-10-27T04:14:52.960Z,1761538492.960 [lineCaptureHoming:Lap:D] Stopped 2025-10-27T04:14:52.960Z,1761538492.960 [lineCaptureHoming:Lap:E] Running Loop=1 2025-10-27T04:14:52.960Z,1761538492.960 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E 2025-10-27T04:14:53.080Z,1761538493.080 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.181589 2025-10-27T04:14:53.246Z,1761538493.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465107,0.885251,-0.002565],[-0.885253,0.465100,-0.002832],[-0.001314,0.003588,0.999993]] 2025-10-27T04:14:53.309Z,1761538493.309 [lineCaptureHoming:restartDHCP] Running Loop=1 2025-10-27T04:14:53.310Z,1761538493.310 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP 2025-10-27T04:14:53.310Z,1761538493.310 [lineCaptureHoming:restartDHCP:A] Running Loop=1 2025-10-27T04:14:53.310Z,1761538493.310 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP... 2025-10-27T04:14:53.310Z,1761538493.310 [lineCaptureHoming:restartDHCP:A] Stopped 2025-10-27T04:14:53.310Z,1761538493.310 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1 2025-10-27T04:14:53.332Z,1761538493.332 [DAT](INFO): DAT read: Rx Time:04:14:52.1634 2025-10-27T04:14:53.333Z,1761538493.333 [DAT](INFO): Rx dataTimestamp_ set to:1761538493.332388 2025-10-27T04:14:53.334Z,1761538493.334 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:53.335Z,1761538493.335 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-27T04:14:53.337Z,1761538493.337 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.438244 2025-10-27T04:14:53.584Z,1761538493.584 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.685616 2025-10-27T04:14:53.654Z,1761538493.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448778,0.893598,-0.009016],[-0.893457,0.448867,0.015896],[0.018252,0.000922,0.999833]] 2025-10-27T04:14:53.727Z,1761538493.727 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-27T04:14:53.727Z,1761538493.727 [lineCaptureHoming:restartDHCP:B.Execute] Stopped 2025-10-27T04:14:53.727Z,1761538493.727 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP 2025-10-27T04:14:53.728Z,1761538493.728 [lineCaptureHoming:restartDHCP] Stopped 2025-10-27T04:14:53.728Z,1761538493.728 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP 2025-10-27T04:14:53.829Z,1761538493.829 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-27T04:14:53.860Z,1761538493.860 [DAT](INFO): DAT read: Rx Time:04:14:52.6633 2025-10-27T04:14:53.861Z,1761538493.861 [DAT](INFO): Rx dataTimestamp_ set to:1761538493.860288 2025-10-27T04:14:53.863Z,1761538493.863 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:53.865Z,1761538493.865 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T04:14:53.873Z,1761538493.873 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.974380 2025-10-27T04:14:54.056Z,1761538494.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435957,0.899806,-0.017040],[-0.899180,0.436289,0.033574],[0.037644,0.000686,0.999291]] 2025-10-27T04:14:54.088Z,1761538494.088 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.189850 2025-10-27T04:14:54.118Z,1761538494.118 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E 2025-10-27T04:14:54.118Z,1761538494.118 [lineCaptureHoming:Lap:E] Stopped 2025-10-27T04:14:54.118Z,1761538494.118 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E 2025-10-27T04:14:54.118Z,1761538494.118 [lineCaptureHoming:Lap:Docked] Running Loop=1 2025-10-27T04:14:54.119Z,1761538494.119 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked 2025-10-27T04:14:54.151Z,1761538494.151 [lineCaptureHoming:Lap:Docked:A] Running Loop=1 2025-10-27T04:14:54.152Z,1761538494.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:14:54.257Z,1761538494.257 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-10-27UTC041454_sh 2025-10-27T04:14:54.340Z,1761538494.340 [DAT](INFO): DAT read: Rx Time:04:14:53.1633 2025-10-27T04:14:54.341Z,1761538494.341 [DAT](INFO): Rx dataTimestamp_ set to:1761538494.340497 2025-10-27T04:14:54.342Z,1761538494.342 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:54.343Z,1761538494.343 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-27T04:14:54.344Z,1761538494.344 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.445396 2025-10-27T04:14:54.458Z,1761538494.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426973,0.903918,-0.025028],[-0.902501,0.427704,0.050608],[0.056450,0.000979,0.998405]] 2025-10-27T04:14:54.560Z,1761538494.560 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 2025-10-27T04:14:54.560Z,1761538494.560 [lineCaptureHoming:Lap:Docked:A] Stopped 2025-10-27T04:14:54.560Z,1761538494.560 [lineCaptureHoming:Lap:Docked:C] Running Loop=1 2025-10-27T04:14:54.592Z,1761538494.592 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.693760 2025-10-27T04:14:54.844Z,1761538494.844 [DAT](INFO): DAT read: Rx Time:04:14:53.6632 2025-10-27T04:14:54.845Z,1761538494.845 [DAT](INFO): Rx dataTimestamp_ set to:1761538494.844373 2025-10-27T04:14:54.870Z,1761538494.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421326,0.906331,-0.032378],[-0.903997,0.422564,0.065029],[0.072619,0.001871,0.997358]] 2025-10-27T04:14:54.875Z,1761538494.875 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:14:54.876Z,1761538494.876 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-27T04:14:54.878Z,1761538494.878 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.979856 2025-10-27T04:14:54.954Z,1761538494.954 [lineCaptureHoming:Lap:Docked:C] Stopped 2025-10-27T04:14:54.954Z,1761538494.954 [lineCaptureHoming:Lap:Docked:D] Running Loop=1 2025-10-27T04:14:55.096Z,1761538495.096 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.197599 2025-10-27T04:14:55.265Z,1761538495.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420108,0.906739,-0.036524],[-0.903551,0.421692,0.075972],[0.084289,0.001085,0.996441]] 2025-10-27T04:14:55.298Z,1761538495.298 [lineCaptureHoming:Lap:Docked:D] Stopped 2025-10-27T04:14:55.298Z,1761538495.298 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1 2025-10-27T04:14:55.299Z,1761538495.299 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize. 2025-10-27T04:14:55.315Z,1761538495.315 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2025-10-27T04:14:55.349Z,1761538495.349 [DAT](INFO): DAT read: Rx Time:04:14:54.1633 2025-10-27T04:14:55.350Z,1761538495.350 [DAT](INFO): Rx dataTimestamp_ set to:1761538495.349685 2025-10-27T04:14:55.353Z,1761538495.353 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:55.354Z,1761538495.354 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-27T04:14:55.355Z,1761538495.355 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.456909 2025-10-27T04:14:55.600Z,1761538495.600 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.701672 2025-10-27T04:14:55.676Z,1761538495.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423897,0.904768,-0.041310],[-0.901298,0.425890,0.079241],[0.089288,0.003643,0.995999]] 2025-10-27T04:14:55.854Z,1761538495.854 [DAT](INFO): DAT read: Rx Time:04:14:54.6632 2025-10-27T04:14:55.854Z,1761538495.854 [DAT](INFO): Rx dataTimestamp_ set to:1761538495.854030 2025-10-27T04:14:55.857Z,1761538495.857 [DAT](INFO): DAT read: Bearing 171.5, 36.1 (Local) 2025-10-27T04:14:55.857Z,1761538495.857 [DAT](INFO): Local bearing/azimuth received: Bearing 171.5, 36.1 (Local) 2025-10-27T04:14:55.860Z,1761538495.860 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:14:55.867Z,1761538495.867 [DAT](INFO): DAT read: 04:14:54.6632 LVL= 20720, 29681, 32754, 24739, AGC= 45, IDX= 513, 0.04,-2.043, 2.698, 2.801,-1.593, PHS=-0.348,-1.947,-1.933, RAW= 90.4, 43.2, CAL= 89.2, 49.9, ROT= 60.8, -49.9 2025-10-27T04:14:55.873Z,1761538495.873 [DAT](INFO): got valid direction response: 04:14:54.6632 LVL= 20720, 29681, 32754, 24739, AGC= 45, IDX= 513, 0.04,-2.043, 2.698, 2.801,-1.593, PHS=-0.348,-1.947,-1.933, RAW= 90.4, 43.2, CAL= 89.2, 49.9, ROT= 60.8, -49.9 2025-10-27T04:14:55.874Z,1761538495.874 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T04:14:55.907Z,1761538495.907 [DAT](INFO): direction in FSK: [0.314242,0.562270,0.764921] 2025-10-27T04:14:55.907Z,1761538495.907 [DAT](INFO): publishing direction and range info 2025-10-27T04:14:55.916Z,1761538495.916 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.017715 2025-10-27T04:14:55.916Z,1761538495.916 [DAT](INFO): Requesting device enable set for address 50. 2025-10-27T04:14:56.077Z,1761538496.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432708,0.900627,-0.040437],[-0.897234,0.434586,0.078134],[0.087943,0.002472,0.996122]] 2025-10-27T04:14:56.104Z,1761538496.104 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.205772 2025-10-27T04:14:56.104Z,1761538496.104 [DAT](INFO): Requesting device enable set for address 50. 2025-10-27T04:14:56.357Z,1761538496.357 [DAT](INFO): DAT read: Rx Time:04:14:55.1634 2025-10-27T04:14:56.357Z,1761538496.357 [DAT](INFO): Rx dataTimestamp_ set to:1761538496.357159 2025-10-27T04:14:56.360Z,1761538496.360 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:56.361Z,1761538496.361 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-27T04:14:56.362Z,1761538496.362 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.463602 2025-10-27T04:14:56.363Z,1761538496.363 [DAT](INFO): Requesting device enable set for address 50. 2025-10-27T04:14:56.478Z,1761538496.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446250,0.894099,-0.038044],[-0.891281,0.447864,0.070961],[0.080485,0.002242,0.996753]] 2025-10-27T04:14:56.608Z,1761538496.608 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.710119 2025-10-27T04:14:56.861Z,1761538496.861 [DAT](INFO): DAT read: Rx Time:04:14:55.6633 2025-10-27T04:14:56.862Z,1761538496.862 [DAT](INFO): Rx dataTimestamp_ set to:1761538496.861050 2025-10-27T04:14:56.863Z,1761538496.863 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:56.864Z,1761538496.864 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-27T04:14:56.866Z,1761538496.866 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.967508 2025-10-27T04:14:56.893Z,1761538496.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464248,0.885048,-0.034118],[-0.883012,0.465495,0.060039],[0.069019,0.002254,0.997613]] 2025-10-27T04:14:57.112Z,1761538497.112 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.213680 2025-10-27T04:14:57.300Z,1761538497.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484419,0.874425,-0.026811],[-0.873022,0.485160,0.049533],[0.056321,-0.000588,0.998413]] 2025-10-27T04:14:57.365Z,1761538497.365 [DAT](INFO): DAT read: Rx Time:04:14:56.1634 2025-10-27T04:14:57.366Z,1761538497.366 [DAT](INFO): Rx dataTimestamp_ set to:1761538497.365222 2025-10-27T04:14:57.368Z,1761538497.368 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:14:57.370Z,1761538497.370 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-27T04:14:57.371Z,1761538497.371 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.472406 2025-10-27T04:14:57.616Z,1761538497.616 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.717686 2025-10-27T04:14:57.690Z,1761538497.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505806,0.862523,-0.014626],[-0.861511,0.505938,0.042725],[0.044251,-0.009010,0.998980]] 2025-10-27T04:14:57.877Z,1761538497.877 [DAT](INFO): DAT read: Rx Time:04:14:56.6633 2025-10-27T04:14:57.877Z,1761538497.877 [DAT](INFO): Rx dataTimestamp_ set to:1761538497.876719 2025-10-27T04:14:57.878Z,1761538497.878 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:57.879Z,1761538497.879 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-27T04:14:57.880Z,1761538497.880 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.981562 2025-10-27T04:14:58.097Z,1761538498.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526455,0.850194,-0.003911],[-0.849586,0.526243,0.035657],[0.032374,-0.015449,0.999356]] 2025-10-27T04:14:58.137Z,1761538498.137 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.238272 2025-10-27T04:14:58.388Z,1761538498.388 [DAT](INFO): DAT read: Rx Time:04:14:57.1633 2025-10-27T04:14:58.389Z,1761538498.389 [DAT](INFO): Rx dataTimestamp_ set to:1761538498.388233 2025-10-27T04:14:58.390Z,1761538498.390 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:58.390Z,1761538498.390 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-27T04:14:58.392Z,1761538498.392 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.493563 2025-10-27T04:14:58.499Z,1761538498.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547573,0.836754,-0.002600],[-0.836543,0.547499,0.020988],[0.018985,-0.009317,0.999776]] 2025-10-27T04:14:58.640Z,1761538498.640 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.741684 2025-10-27T04:14:58.896Z,1761538498.896 [DAT](INFO): DAT read: Rx Time:04:14:57.6632 2025-10-27T04:14:58.897Z,1761538498.897 [DAT](INFO): Rx dataTimestamp_ set to:1761538498.896539 2025-10-27T04:14:58.898Z,1761538498.898 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:14:58.899Z,1761538498.899 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-27T04:14:58.900Z,1761538498.900 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.001402 2025-10-27T04:14:59.148Z,1761538499.148 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.249641 2025-10-27T04:14:59.307Z,1761538499.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586344,0.810062,-0.000656],[-0.810025,0.586309,-0.010095],[-0.007793,0.006450,0.999949]] 2025-10-27T04:14:59.400Z,1761538499.400 [DAT](INFO): DAT read: Rx Time:04:14:58.1633 2025-10-27T04:14:59.401Z,1761538499.401 [DAT](INFO): Rx dataTimestamp_ set to:1761538499.400627 2025-10-27T04:14:59.402Z,1761538499.402 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:59.403Z,1761538499.403 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-27T04:14:59.404Z,1761538499.404 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.505714 2025-10-27T04:14:59.652Z,1761538499.652 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.754019 2025-10-27T04:14:59.730Z,1761538499.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601432,0.798923,0.001394],[-0.798662,0.601279,-0.024548],[-0.020450,0.013651,0.999698]] 2025-10-27T04:14:59.904Z,1761538499.904 [DAT](INFO): DAT read: Rx Time:04:14:58.6633 2025-10-27T04:14:59.904Z,1761538499.904 [DAT](INFO): Rx dataTimestamp_ set to:1761538499.904221 2025-10-27T04:14:59.906Z,1761538499.906 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:14:59.906Z,1761538499.906 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-10-27T04:14:59.907Z,1761538499.907 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.009016 2025-10-27T04:15:00.113Z,1761538500.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612940,0.790118,0.004302],[-0.789487,0.612652,-0.036989],[-0.031862,0.019276,0.999306]] 2025-10-27T04:15:00.156Z,1761538500.156 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.257782 2025-10-27T04:15:00.408Z,1761538500.408 [DAT](INFO): DAT read: Rx Time:04:14:59.1634 2025-10-27T04:15:00.409Z,1761538500.409 [DAT](INFO): Rx dataTimestamp_ set to:1761538500.408267 2025-10-27T04:15:00.410Z,1761538500.410 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:00.410Z,1761538500.410 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-27T04:15:00.411Z,1761538500.411 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.513067 2025-10-27T04:15:00.519Z,1761538500.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619747,0.784721,0.011293],[-0.783754,0.619598,-0.042753],[-0.040546,0.017645,0.999022]] 2025-10-27T04:15:00.660Z,1761538500.660 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.761717 2025-10-27T04:15:00.912Z,1761538500.912 [DAT](INFO): DAT read: Rx Time:04:14:59.6633 2025-10-27T04:15:00.913Z,1761538500.913 [DAT](INFO): Rx dataTimestamp_ set to:1761538500.912387 2025-10-27T04:15:00.914Z,1761538500.914 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:00.914Z,1761538500.914 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-10-27T04:15:00.915Z,1761538500.915 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.017206 2025-10-27T04:15:00.926Z,1761538500.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621539,0.783252,0.014316],[-0.782008,0.621427,-0.047871],[-0.046391,0.018558,0.998751]] 2025-10-27T04:15:01.164Z,1761538501.164 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.265614 2025-10-27T04:15:01.325Z,1761538501.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618980,0.785275,0.014419],[-0.783896,0.618823,-0.050647],[-0.048695,0.020046,0.998613]] 2025-10-27T04:15:01.417Z,1761538501.417 [DAT](INFO): DAT read: Rx Time:04:15:00.1634 2025-10-27T04:15:01.418Z,1761538501.418 [DAT](INFO): Rx dataTimestamp_ set to:1761538501.416911 2025-10-27T04:15:01.420Z,1761538501.420 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:01.421Z,1761538501.421 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-27T04:15:01.422Z,1761538501.422 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.523537 2025-10-27T04:15:01.668Z,1761538501.668 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.769691 2025-10-27T04:15:01.739Z,1761538501.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612084,0.790683,0.013181],[-0.789356,0.611891,-0.050061],[-0.047648,0.020237,0.998659]] 2025-10-27T04:15:01.920Z,1761538501.920 [DAT](INFO): DAT read: Rx Time:04:15:00.6633 2025-10-27T04:15:01.921Z,1761538501.921 [DAT](INFO): Rx dataTimestamp_ set to:1761538501.920241 2025-10-27T04:15:01.922Z,1761538501.922 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:01.922Z,1761538501.922 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-10-27T04:15:01.923Z,1761538501.923 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.025030 2025-10-27T04:15:02.134Z,1761538502.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600113,0.799837,0.011182],[-0.798691,0.599909,-0.046918],[-0.044235,0.019225,0.998836]] 2025-10-27T04:15:02.172Z,1761538502.172 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.273760 2025-10-27T04:15:02.424Z,1761538502.424 [DAT](INFO): DAT read: Rx Time:04:15:01.1633 2025-10-27T04:15:02.425Z,1761538502.425 [DAT](INFO): Rx dataTimestamp_ set to:1761538502.424352 2025-10-27T04:15:02.426Z,1761538502.426 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:02.426Z,1761538502.426 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-27T04:15:02.427Z,1761538502.427 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.529163 2025-10-27T04:15:02.538Z,1761538502.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583924,0.811757,0.009111],[-0.810822,0.583731,-0.042725],[-0.040000,0.017561,0.999045]] 2025-10-27T04:15:02.676Z,1761538502.676 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.777672 2025-10-27T04:15:02.928Z,1761538502.928 [DAT](INFO): DAT read: Rx Time:04:15:01.6633 2025-10-27T04:15:02.929Z,1761538502.929 [DAT](INFO): Rx dataTimestamp_ set to:1761538502.928255 2025-10-27T04:15:02.930Z,1761538502.930 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:02.930Z,1761538502.930 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-27T04:15:02.931Z,1761538502.931 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.033096 2025-10-27T04:15:02.963Z,1761538502.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564276,0.825560,0.006573],[-0.824827,0.564081,-0.038383],[-0.035395,0.016237,0.999241]] 2025-10-27T04:15:03.180Z,1761538503.180 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.281681 2025-10-27T04:15:03.369Z,1761538503.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542736,0.839889,0.004897],[-0.839348,0.542580,-0.033203],[-0.030544,0.013910,0.999437]] 2025-10-27T04:15:03.433Z,1761538503.433 [DAT](INFO): DAT read: Rx Time:04:15:02.1634 2025-10-27T04:15:03.433Z,1761538503.433 [DAT](INFO): Rx dataTimestamp_ set to:1761538503.432891 2025-10-27T04:15:03.435Z,1761538503.435 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:03.436Z,1761538503.436 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-10-27T04:15:03.437Z,1761538503.437 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.538826 2025-10-27T04:15:03.684Z,1761538503.684 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.785645 2025-10-27T04:15:03.762Z,1761538503.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519585,0.854416,0.002125],[-0.854042,0.519429,-0.028406],[-0.025374,0.012945,0.999594]] 2025-10-27T04:15:03.942Z,1761538503.942 [DAT](INFO): DAT read: Rx Time:04:15:02.6633 2025-10-27T04:15:03.942Z,1761538503.942 [DAT](INFO): Rx dataTimestamp_ set to:1761538503.941862 2025-10-27T04:15:03.944Z,1761538503.944 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:03.944Z,1761538503.944 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-27T04:15:03.945Z,1761538503.945 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.046913 2025-10-27T04:15:04.165Z,1761538504.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496477,0.868050,0.000125],[-0.867827,0.496352,-0.022625],[-0.019702,0.011125,0.999744]] 2025-10-27T04:15:04.192Z,1761538504.192 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.293648 2025-10-27T04:15:04.450Z,1761538504.450 [DAT](INFO): DAT read: Rx Time:04:15:03.1634 2025-10-27T04:15:04.450Z,1761538504.450 [DAT](INFO): Rx dataTimestamp_ set to:1761538504.449880 2025-10-27T04:15:04.452Z,1761538504.452 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:04.452Z,1761538504.452 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-10-27T04:15:04.453Z,1761538504.453 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.555050 2025-10-27T04:15:04.569Z,1761538504.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473610,0.880733,-0.001448],[-0.880636,0.473532,-0.015750],[-0.013186,0.008735,0.999875]] 2025-10-27T04:15:04.700Z,1761538504.700 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.800346 2025-10-27T04:15:04.948Z,1761538504.948 [DAT](INFO): DAT read: Rx Time:04:15:03.6633 2025-10-27T04:15:04.949Z,1761538504.949 [DAT](INFO): Rx dataTimestamp_ set to:1761538504.948258 2025-10-27T04:15:04.950Z,1761538504.950 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:04.950Z,1761538504.950 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-10-27T04:15:04.951Z,1761538504.951 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.053123 2025-10-27T04:15:04.993Z,1761538504.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452015,0.892010,-0.000855],[-0.891993,0.452000,-0.006697],[-0.005587,0.003790,0.999977]] 2025-10-27T04:15:05.200Z,1761538505.200 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.301632 2025-10-27T04:15:05.379Z,1761538505.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431659,0.902037,0.000420],[-0.902032,0.431655,0.003642],[0.003104,-0.001951,0.999993]] 2025-10-27T04:15:05.453Z,1761538505.453 [DAT](INFO): DAT read: Rx Time:04:15:04.1634 2025-10-27T04:15:05.453Z,1761538505.453 [DAT](INFO): Rx dataTimestamp_ set to:1761538505.453020 2025-10-27T04:15:05.455Z,1761538505.455 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:05.456Z,1761538505.456 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-10-27T04:15:05.457Z,1761538505.457 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.558624 2025-10-27T04:15:05.705Z,1761538505.705 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.806236 2025-10-27T04:15:05.789Z,1761538505.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413726,0.910401,0.000488],[-0.910322,0.413682,0.013437],[0.012032,-0.006003,0.999910]] 2025-10-27T04:15:05.956Z,1761538505.956 [DAT](INFO): DAT read: Rx Time:04:15:04.6633 2025-10-27T04:15:05.957Z,1761538505.957 [DAT](INFO): Rx dataTimestamp_ set to:1761538505.956283 2025-10-27T04:15:05.958Z,1761538505.958 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:05.958Z,1761538505.958 [DAT](ERROR): #Rx 66: Read range message, but no direction. 2025-10-27T04:15:05.966Z,1761538505.966 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.067451 2025-10-27T04:15:06.185Z,1761538506.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398484,0.917175,-0.000867],[-0.916936,0.398401,0.022479],[0.020962,-0.008163,0.999747]] 2025-10-27T04:15:06.208Z,1761538506.208 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.309814 2025-10-27T04:15:06.460Z,1761538506.460 [DAT](INFO): DAT read: Rx Time:04:15:05.1633 2025-10-27T04:15:06.461Z,1761538506.461 [DAT](INFO): Rx dataTimestamp_ set to:1761538506.460258 2025-10-27T04:15:06.462Z,1761538506.462 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:06.462Z,1761538506.462 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-27T04:15:06.463Z,1761538506.463 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.565048 2025-10-27T04:15:06.590Z,1761538506.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386135,0.922436,-0.003480],[-0.921960,0.386052,0.030886],[0.029834,-0.008718,0.999517]] 2025-10-27T04:15:06.715Z,1761538506.715 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.816380 2025-10-27T04:15:06.964Z,1761538506.964 [DAT](INFO): DAT read: Rx Time:04:15:05.6632 2025-10-27T04:15:06.965Z,1761538506.965 [DAT](INFO): Rx dataTimestamp_ set to:1761538506.964298 2025-10-27T04:15:06.966Z,1761538506.966 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:15:06.966Z,1761538506.966 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-10-27T04:15:06.967Z,1761538506.967 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.069180 2025-10-27T04:15:06.994Z,1761538506.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377169,0.926122,-0.006505],[-0.925350,0.377127,0.038762],[0.038352,-0.008600,0.999227]] 2025-10-27T04:15:07.216Z,1761538507.216 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.317551 2025-10-27T04:15:07.469Z,1761538507.469 [DAT](INFO): DAT read: Rx Time:04:15:06.1634 2025-10-27T04:15:07.469Z,1761538507.469 [DAT](INFO): Rx dataTimestamp_ set to:1761538507.468752 2025-10-27T04:15:07.471Z,1761538507.471 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:07.472Z,1761538507.472 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-10-27T04:15:07.473Z,1761538507.473 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.574745 2025-10-27T04:15:07.723Z,1761538507.723 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.824341 2025-10-27T04:15:07.972Z,1761538507.972 [DAT](INFO): DAT read: Rx Time:04:15:06.6633 2025-10-27T04:15:07.973Z,1761538507.973 [DAT](INFO): Rx dataTimestamp_ set to:1761538507.972297 2025-10-27T04:15:07.974Z,1761538507.974 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:07.974Z,1761538507.974 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-27T04:15:07.975Z,1761538507.975 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.077148 2025-10-27T04:15:08.205Z,1761538508.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369177,0.929132,-0.020559],[-0.927570,0.369748,0.053847],[0.057632,-0.000809,0.998338]] 2025-10-27T04:15:08.224Z,1761538508.224 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.325714 2025-10-27T04:15:08.476Z,1761538508.476 [DAT](INFO): DAT read: Rx Time:04:15:07.1634 2025-10-27T04:15:08.477Z,1761538508.477 [DAT](INFO): Rx dataTimestamp_ set to:1761538508.476310 2025-10-27T04:15:08.478Z,1761538508.478 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:08.478Z,1761538508.478 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-10-27T04:15:08.479Z,1761538508.479 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.581108 2025-10-27T04:15:08.611Z,1761538508.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372660,0.927700,-0.022289],[-0.926012,0.373326,0.055952],[0.060228,-0.000211,0.998185]] 2025-10-27T04:15:08.731Z,1761538508.731 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.831936 2025-10-27T04:15:08.980Z,1761538508.980 [DAT](INFO): DAT read: Rx Time:04:15:07.6633 2025-10-27T04:15:08.981Z,1761538508.981 [DAT](INFO): Rx dataTimestamp_ set to:1761538508.980277 2025-10-27T04:15:08.982Z,1761538508.982 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:08.982Z,1761538508.982 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-10-27T04:15:08.983Z,1761538508.983 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.085121 2025-10-27T04:15:09.013Z,1761538509.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378555,0.925284,-0.023340],[-0.923618,0.379274,0.055507],[0.060212,0.000544,0.998185]] 2025-10-27T04:15:09.233Z,1761538509.233 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.334480 2025-10-27T04:15:09.417Z,1761538509.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387285,0.921670,-0.023128],[-0.920156,0.387974,0.052811],[0.057647,0.000829,0.998337]] 2025-10-27T04:15:09.485Z,1761538509.485 [DAT](INFO): DAT read: Rx Time:04:15:08.1634 2025-10-27T04:15:09.485Z,1761538509.485 [DAT](INFO): Rx dataTimestamp_ set to:1761538509.484814 2025-10-27T04:15:09.487Z,1761538509.487 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:09.488Z,1761538509.488 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-27T04:15:09.489Z,1761538509.489 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.590591 2025-10-27T04:15:09.739Z,1761538509.739 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.839767 2025-10-27T04:15:09.822Z,1761538509.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398471,0.916921,-0.021838],[-0.915673,0.399068,0.047825],[0.052567,0.000940,0.998617]] 2025-10-27T04:15:09.988Z,1761538509.988 [DAT](INFO): DAT read: Rx Time:04:15:08.6633 2025-10-27T04:15:09.989Z,1761538509.989 [DAT](INFO): Rx dataTimestamp_ set to:1761538509.988284 2025-10-27T04:15:09.990Z,1761538509.990 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:09.990Z,1761538509.990 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-10-27T04:15:09.991Z,1761538509.991 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.093227 2025-10-27T04:15:10.227Z,1761538510.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411212,0.911327,-0.019685],[-0.910385,0.411682,0.041450],[0.045878,0.000876,0.998947]] 2025-10-27T04:15:10.240Z,1761538510.240 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.341743 2025-10-27T04:15:10.492Z,1761538510.492 [DAT](INFO): DAT read: Rx Time:04:15:09.1633 2025-10-27T04:15:10.493Z,1761538510.493 [DAT](INFO): Rx dataTimestamp_ set to:1761538510.492261 2025-10-27T04:15:10.494Z,1761538510.494 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:10.494Z,1761538510.494 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-27T04:15:10.495Z,1761538510.495 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.597118 2025-10-27T04:15:10.629Z,1761538510.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424653,0.905219,-0.015762],[-0.904540,0.424945,0.035043],[0.038420,-0.000624,0.999261]] 2025-10-27T04:15:10.746Z,1761538510.746 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.847477 2025-10-27T04:15:10.996Z,1761538510.996 [DAT](INFO): DAT read: Rx Time:04:15:09.6632 2025-10-27T04:15:10.997Z,1761538510.997 [DAT](INFO): Rx dataTimestamp_ set to:1761538510.996238 2025-10-27T04:15:10.998Z,1761538510.998 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:15:10.998Z,1761538510.998 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-27T04:15:10.999Z,1761538510.999 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.101112 2025-10-27T04:15:11.043Z,1761538511.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438656,0.898603,-0.009632],[-0.898130,0.438741,0.029465],[0.030704,-0.004274,0.999519]] 2025-10-27T04:15:11.248Z,1761538511.248 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.349632 2025-10-27T04:15:11.437Z,1761538511.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451620,0.892202,-0.003943],[-0.891911,0.451578,0.023922],[0.023124,-0.007287,0.999706]] 2025-10-27T04:15:11.513Z,1761538511.513 [DAT](INFO): DAT read: Rx Time:04:15:10.1634 2025-10-27T04:15:11.514Z,1761538511.514 [DAT](INFO): Rx dataTimestamp_ set to:1761538511.513611 2025-10-27T04:15:11.516Z,1761538511.516 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:11.517Z,1761538511.517 [DAT](ERROR): #Rx 77: Read range message, but no direction. 2025-10-27T04:15:11.518Z,1761538511.518 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.619560 2025-10-27T04:15:11.767Z,1761538511.767 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.868393 2025-10-27T04:15:12.016Z,1761538512.016 [DAT](INFO): DAT read: Rx Time:04:15:10.6633 2025-10-27T04:15:12.017Z,1761538512.017 [DAT](INFO): Rx dataTimestamp_ set to:1761538512.016315 2025-10-27T04:15:12.018Z,1761538512.018 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:12.018Z,1761538512.018 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-27T04:15:12.023Z,1761538512.023 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.125164 2025-10-27T04:15:12.246Z,1761538512.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475546,0.879690,0.001052],[-0.879668,0.475524,0.007852],[0.006407,-0.004659,0.999969]] 2025-10-27T04:15:12.268Z,1761538512.268 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.369804 2025-10-27T04:15:12.520Z,1761538512.520 [DAT](INFO): DAT read: Rx Time:04:15:11.1634 2025-10-27T04:15:12.520Z,1761538512.520 [DAT](INFO): Rx dataTimestamp_ set to:1761538512.520184 2025-10-27T04:15:12.522Z,1761538512.522 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:12.522Z,1761538512.522 [DAT](ERROR): #Rx 79: Read range message, but no direction. 2025-10-27T04:15:12.523Z,1761538512.523 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.624973 2025-10-27T04:15:12.651Z,1761538512.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485557,0.874199,0.003118],[-0.874202,0.485562,-0.000785],[-0.002200,-0.002345,0.999995]] 2025-10-27T04:15:12.775Z,1761538512.775 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.875870 2025-10-27T04:15:13.024Z,1761538513.024 [DAT](INFO): DAT read: Rx Time:04:15:11.6633 2025-10-27T04:15:13.025Z,1761538513.025 [DAT](INFO): Rx dataTimestamp_ set to:1761538513.024300 2025-10-27T04:15:13.026Z,1761538513.026 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:13.026Z,1761538513.026 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-27T04:15:13.027Z,1761538513.027 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.129143 2025-10-27T04:15:13.053Z,1761538513.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493358,0.869813,0.004845],[-0.869760,0.493382,-0.009580],[-0.010723,0.000512,0.999942]] 2025-10-27T04:15:13.276Z,1761538513.276 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.377594 2025-10-27T04:15:13.458Z,1761538513.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499236,0.866441,0.006612],[-0.866257,0.499268,-0.018173],[-0.019047,0.003345,0.999813]] 2025-10-27T04:15:13.529Z,1761538513.529 [DAT](INFO): DAT read: Rx Time:04:15:12.1634 2025-10-27T04:15:13.529Z,1761538513.529 [DAT](INFO): Rx dataTimestamp_ set to:1761538513.528828 2025-10-27T04:15:13.531Z,1761538513.531 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:13.532Z,1761538513.532 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-27T04:15:13.533Z,1761538513.533 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.634792 2025-10-27T04:15:13.784Z,1761538513.784 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.885181 2025-10-27T04:15:13.867Z,1761538513.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502870,0.864321,0.008494],[-0.863939,0.502907,-0.026360],[-0.027055,0.005917,0.999616]] 2025-10-27T04:15:14.032Z,1761538514.032 [DAT](INFO): DAT read: Rx Time:04:15:12.6633 2025-10-27T04:15:14.033Z,1761538514.033 [DAT](INFO): Rx dataTimestamp_ set to:1761538514.032237 2025-10-27T04:15:14.034Z,1761538514.034 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:14.034Z,1761538514.034 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-27T04:15:14.035Z,1761538514.035 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.137047 2025-10-27T04:15:14.265Z,1761538514.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503998,0.863654,0.009413],[-0.863023,0.504003,-0.034239],[-0.034315,0.009132,0.999369]] 2025-10-27T04:15:14.287Z,1761538514.287 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.387760 2025-10-27T04:15:14.536Z,1761538514.536 [DAT](INFO): DAT read: Rx Time:04:15:13.1633 2025-10-27T04:15:14.537Z,1761538514.537 [DAT](INFO): Rx dataTimestamp_ set to:1761538514.536253 2025-10-27T04:15:14.538Z,1761538514.538 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:14.538Z,1761538514.538 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-27T04:15:14.539Z,1761538514.539 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.641071 2025-10-27T04:15:14.669Z,1761538514.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502888,0.864279,0.011230],[-0.863414,0.502905,-0.040026],[-0.040241,0.010432,0.999136]] 2025-10-27T04:15:14.796Z,1761538514.796 [DAT](INFO): DAT read: Rx Time:04:15:13.6633 2025-10-27T04:15:14.797Z,1761538514.797 [DAT](INFO): Rx dataTimestamp_ set to:1761538514.796281 2025-10-27T04:15:14.800Z,1761538514.800 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.900833 2025-10-27T04:15:15.041Z,1761538515.041 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:15.041Z,1761538515.041 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-27T04:15:15.042Z,1761538515.042 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.143845 2025-10-27T04:15:15.086Z,1761538515.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498441,0.866808,0.014186],[-0.865827,0.498566,-0.042142],[-0.043602,0.008723,0.999011]] 2025-10-27T04:15:15.293Z,1761538515.293 [DAT](INFO): DAT read: Rx Time:04:15:14.1634 2025-10-27T04:15:15.293Z,1761538515.293 [DAT](INFO): Rx dataTimestamp_ set to:1761538515.292932 2025-10-27T04:15:15.294Z,1761538515.294 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.395542 2025-10-27T04:15:15.477Z,1761538515.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491703,0.870653,0.013865],[-0.869625,0.491812,-0.043276],[-0.044498,0.009221,0.998967]] 2025-10-27T04:15:15.545Z,1761538515.545 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:15.546Z,1761538515.546 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-27T04:15:15.548Z,1761538515.548 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.649212 2025-10-27T04:15:15.799Z,1761538515.799 [DAT](INFO): DAT read: Rx Time:04:15:14.6633 2025-10-27T04:15:15.801Z,1761538515.801 [DAT](INFO): Rx dataTimestamp_ set to:1761538515.800056 2025-10-27T04:15:15.805Z,1761538515.805 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:15.808Z,1761538515.808 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-27T04:15:15.811Z,1761538515.811 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.911648 2025-10-27T04:15:15.882Z,1761538515.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482961,0.875550,0.012677],[-0.874617,0.483045,-0.041383],[-0.042357,0.008899,0.999063]] 2025-10-27T04:15:16.048Z,1761538516.048 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.149708 2025-10-27T04:15:16.296Z,1761538516.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472849,0.881095,0.009253],[-0.880334,0.472839,-0.037878],[-0.037749,0.009764,0.999240]] 2025-10-27T04:15:16.300Z,1761538516.300 [DAT](INFO): DAT read: Rx Time:04:15:15.1634 2025-10-27T04:15:16.300Z,1761538516.300 [DAT](INFO): Rx dataTimestamp_ set to:1761538516.300128 2025-10-27T04:15:16.302Z,1761538516.302 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:16.302Z,1761538516.302 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-27T04:15:16.303Z,1761538516.303 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.404930 2025-10-27T04:15:16.552Z,1761538516.552 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.653667 2025-10-27T04:15:16.719Z,1761538516.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461336,0.887211,0.005033],[-0.886696,0.461250,-0.031926],[-0.030647,0.010266,0.999478]] 2025-10-27T04:15:16.804Z,1761538516.804 [DAT](INFO): DAT read: Rx Time:04:15:15.6633 2025-10-27T04:15:16.805Z,1761538516.805 [DAT](INFO): Rx dataTimestamp_ set to:1761538516.804421 2025-10-27T04:15:16.806Z,1761538516.806 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:16.807Z,1761538516.807 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-27T04:15:16.808Z,1761538516.808 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.909882 2025-10-27T04:15:17.056Z,1761538517.056 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.157566 2025-10-27T04:15:17.094Z,1761538517.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449226,0.893418,0.000420],[-0.893144,0.449100,-0.024563],[-0.022134,0.010659,0.999698]] 2025-10-27T04:15:17.308Z,1761538517.308 [DAT](INFO): DAT read: Rx Time:04:15:16.1634 2025-10-27T04:15:17.309Z,1761538517.309 [DAT](INFO): Rx dataTimestamp_ set to:1761538517.308263 2025-10-27T04:15:17.310Z,1761538517.310 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:17.310Z,1761538517.310 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-27T04:15:17.311Z,1761538517.311 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.413086 2025-10-27T04:15:17.498Z,1761538517.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436908,0.899501,-0.003022],[-0.899414,0.436813,-0.015808],[-0.012899,0.009624,0.999870]] 2025-10-27T04:15:17.560Z,1761538517.560 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.661785 2025-10-27T04:15:17.815Z,1761538517.815 [DAT](INFO): DAT read: Rx Time:04:15:16.6633 2025-10-27T04:15:17.816Z,1761538517.816 [DAT](INFO): Rx dataTimestamp_ set to:1761538517.815458 2025-10-27T04:15:17.821Z,1761538517.821 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:17.823Z,1761538517.823 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-27T04:15:17.830Z,1761538517.830 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.927719 2025-10-27T04:15:17.936Z,1761538517.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424865,0.905255,-0.001873],[-0.905252,0.424855,-0.004148],[-0.002959,0.003458,0.999990]] 2025-10-27T04:15:18.070Z,1761538518.070 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.172142 2025-10-27T04:15:18.306Z,1761538518.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413169,0.910653,-0.001297],[-0.910627,0.413167,0.007174],[0.007069,-0.001783,0.999973]] 2025-10-27T04:15:18.326Z,1761538518.326 [DAT](INFO): DAT read: Rx Time:04:15:17.1633 2025-10-27T04:15:18.326Z,1761538518.326 [DAT](INFO): Rx dataTimestamp_ set to:1761538518.325780 2025-10-27T04:15:18.328Z,1761538518.328 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:18.330Z,1761538518.330 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-27T04:15:18.333Z,1761538518.333 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.434742 2025-10-27T04:15:18.576Z,1761538518.576 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.677616 2025-10-27T04:15:18.717Z,1761538518.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402608,0.915365,-0.003822],[-0.915214,0.402612,0.016936],[0.017042,-0.003320,0.999849]] 2025-10-27T04:15:18.831Z,1761538518.831 [DAT](INFO): DAT read: Rx Time:04:15:17.6632 2025-10-27T04:15:18.832Z,1761538518.832 [DAT](INFO): Rx dataTimestamp_ set to:1761538518.831582 2025-10-27T04:15:18.834Z,1761538518.834 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:15:18.835Z,1761538518.835 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-27T04:15:18.837Z,1761538518.837 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.938679 2025-10-27T04:15:19.080Z,1761538519.080 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.181690 2025-10-27T04:15:19.114Z,1761538519.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393265,0.919398,-0.007128],[-0.919026,0.393311,0.026425],[0.027099,-0.003841,0.999625]] 2025-10-27T04:15:19.333Z,1761538519.333 [DAT](INFO): DAT read: Rx Time:04:15:18.1634 2025-10-27T04:15:19.334Z,1761538519.334 [DAT](INFO): Rx dataTimestamp_ set to:1761538519.333433 2025-10-27T04:15:19.336Z,1761538519.336 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:19.337Z,1761538519.337 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T04:15:19.338Z,1761538519.338 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.439808 2025-10-27T04:15:19.517Z,1761538519.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385435,0.922664,-0.011470],[-0.921982,0.385593,0.035612],[0.037280,-0.003151,0.999300]] 2025-10-27T04:15:19.584Z,1761538519.584 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.685753 2025-10-27T04:15:19.837Z,1761538519.837 [DAT](INFO): DAT read: Rx Time:04:15:18.6633 2025-10-27T04:15:19.838Z,1761538519.838 [DAT](INFO): Rx dataTimestamp_ set to:1761538519.837592 2025-10-27T04:15:19.840Z,1761538519.840 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:19.841Z,1761538519.841 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-27T04:15:19.846Z,1761538519.846 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.947163 2025-10-27T04:15:19.935Z,1761538519.935 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:15:19.937Z,1761538519.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378994,0.925232,-0.017605],[-0.924180,0.379402,0.044102],[0.047484,-0.000444,0.998872]] 2025-10-27T04:15:20.088Z,1761538520.088 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.189640 2025-10-27T04:15:20.330Z,1761538520.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375207,0.926577,-0.025979],[-0.925259,0.376066,0.049694],[0.055815,0.005391,0.998426]] 2025-10-27T04:15:20.350Z,1761538520.350 [DAT](INFO): DAT read: Rx Time:04:15:19.1634 2025-10-27T04:15:20.351Z,1761538520.351 [DAT](INFO): Rx dataTimestamp_ set to:1761538520.350272 2025-10-27T04:15:20.353Z,1761538520.353 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:20.354Z,1761538520.354 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-27T04:15:20.355Z,1761538520.355 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.456341 2025-10-27T04:15:20.600Z,1761538520.600 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.701668 2025-10-27T04:15:20.732Z,1761538520.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372685,0.927524,-0.028380],[-0.925836,0.373726,0.056184],[0.062718,0.005336,0.998017]] 2025-10-27T04:15:20.853Z,1761538520.853 [DAT](INFO): DAT read: Rx Time:04:15:19.6633 2025-10-27T04:15:20.854Z,1761538520.854 [DAT](INFO): Rx dataTimestamp_ set to:1761538520.853634 2025-10-27T04:15:20.855Z,1761538520.855 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:20.857Z,1761538520.857 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-27T04:15:20.860Z,1761538520.860 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.961414 2025-10-27T04:15:20.940Z,1761538520.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:15:21.104Z,1761538521.104 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.205666 2025-10-27T04:15:21.134Z,1761538521.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372478,0.927580,-0.029233],[-0.925720,0.373589,0.058938],[0.065591,0.005108,0.997833]] 2025-10-27T04:15:21.356Z,1761538521.356 [DAT](INFO): DAT read: Rx Time:04:15:20.1633 2025-10-27T04:15:21.357Z,1761538521.357 [DAT](INFO): Rx dataTimestamp_ set to:1761538521.356382 2025-10-27T04:15:21.358Z,1761538521.358 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:21.358Z,1761538521.358 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-27T04:15:21.359Z,1761538521.359 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.461224 2025-10-27T04:15:21.538Z,1761538521.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374385,0.926786,-0.030063],[-0.925018,0.375538,0.057553],[0.064629,0.006261,0.997890]] 2025-10-27T04:15:21.608Z,1761538521.608 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.710167 2025-10-27T04:15:21.862Z,1761538521.862 [DAT](INFO): DAT read: Rx Time:04:15:20.6632 2025-10-27T04:15:21.862Z,1761538521.862 [DAT](INFO): Rx dataTimestamp_ set to:1761538521.862029 2025-10-27T04:15:21.864Z,1761538521.864 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:15:21.864Z,1761538521.864 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-27T04:15:21.865Z,1761538521.865 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.966846 2025-10-27T04:15:21.950Z,1761538521.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378991,0.924982,-0.027814],[-0.923460,0.379970,0.053326],[0.059894,0.005475,0.998190]] 2025-10-27T04:15:22.112Z,1761538522.112 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.213650 2025-10-27T04:15:22.364Z,1761538522.364 [DAT](INFO): DAT read: Rx Time:04:15:21.1634 2025-10-27T04:15:22.364Z,1761538522.364 [DAT](INFO): Rx dataTimestamp_ set to:1761538522.364209 2025-10-27T04:15:22.366Z,1761538522.366 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:22.366Z,1761538522.366 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-27T04:15:22.367Z,1761538522.367 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.469074 2025-10-27T04:15:22.616Z,1761538522.616 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.717651 2025-10-27T04:15:22.869Z,1761538522.869 [DAT](INFO): DAT read: Rx Time:04:15:21.6633 2025-10-27T04:15:22.870Z,1761538522.870 [DAT](INFO): Rx dataTimestamp_ set to:1761538522.869447 2025-10-27T04:15:22.873Z,1761538522.873 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:22.873Z,1761538522.873 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-27T04:15:22.874Z,1761538522.874 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.976006 2025-10-27T04:15:23.120Z,1761538523.120 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.221638 2025-10-27T04:15:23.153Z,1761538523.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401079,0.915995,-0.009426],[-0.915365,0.401157,0.034346],[0.035242,-0.005147,0.999366]] 2025-10-27T04:15:23.372Z,1761538523.372 [DAT](INFO): DAT read: Rx Time:04:15:22.1634 2025-10-27T04:15:23.373Z,1761538523.373 [DAT](INFO): Rx dataTimestamp_ set to:1761538523.372263 2025-10-27T04:15:23.374Z,1761538523.374 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:23.374Z,1761538523.374 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-27T04:15:23.375Z,1761538523.375 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.477085 2025-10-27T04:15:23.557Z,1761538523.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407772,0.913083,-0.000599],[-0.912713,0.407625,0.028225],[0.026016,-0.010962,0.999601]] 2025-10-27T04:15:23.625Z,1761538523.625 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.725964 2025-10-27T04:15:23.876Z,1761538523.876 [DAT](INFO): DAT read: Rx Time:04:15:22.6633 2025-10-27T04:15:23.877Z,1761538523.877 [DAT](INFO): Rx dataTimestamp_ set to:1761538523.876246 2025-10-27T04:15:23.878Z,1761538523.878 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:23.878Z,1761538523.878 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-27T04:15:23.879Z,1761538523.879 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.981045 2025-10-27T04:15:23.000Z,1761538524.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415208,0.909723,0.002669],[-0.909601,0.415100,0.017839],[0.015121,-0.009834,0.999837]] 2025-10-27T04:15:24.128Z,1761538524.128 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.229660 2025-10-27T04:15:24.367Z,1761538524.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422209,0.906483,0.005330],[-0.906491,0.422173,0.006668],[0.003794,-0.007647,0.999964]] 2025-10-27T04:15:24.380Z,1761538524.380 [DAT](INFO): DAT read: Rx Time:04:15:23.1634 2025-10-27T04:15:24.381Z,1761538524.381 [DAT](INFO): Rx dataTimestamp_ set to:1761538524.380399 2025-10-27T04:15:24.382Z,1761538524.382 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:24.382Z,1761538524.382 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T04:15:24.383Z,1761538524.383 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.485207 2025-10-27T04:15:24.632Z,1761538524.632 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.733620 2025-10-27T04:15:24.771Z,1761538524.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428126,0.903697,0.006348],[-0.903687,0.428159,-0.005386],[-0.007585,-0.003431,0.999965]] 2025-10-27T04:15:24.884Z,1761538524.884 [DAT](INFO): DAT read: Rx Time:04:15:23.6633 2025-10-27T04:15:24.885Z,1761538524.885 [DAT](INFO): Rx dataTimestamp_ set to:1761538524.884266 2025-10-27T04:15:24.886Z,1761538524.886 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:24.886Z,1761538524.886 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-27T04:15:24.887Z,1761538524.887 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.989067 2025-10-27T04:15:25.136Z,1761538525.136 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.237686 2025-10-27T04:15:25.173Z,1761538525.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432987,0.901389,0.004508],[-0.901205,0.432992,-0.018648],[-0.018761,0.004012,0.999816]] 2025-10-27T04:15:25.388Z,1761538525.388 [DAT](INFO): DAT read: Rx Time:04:15:24.1634 2025-10-27T04:15:25.389Z,1761538525.389 [DAT](INFO): Rx dataTimestamp_ set to:1761538525.388262 2025-10-27T04:15:25.390Z,1761538525.390 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:25.390Z,1761538525.390 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-27T04:15:25.392Z,1761538525.392 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.493664 2025-10-27T04:15:25.578Z,1761538525.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436847,0.899528,0.003667],[-0.899071,0.436749,-0.030363],[-0.028914,0.009967,0.999532]] 2025-10-27T04:15:25.641Z,1761538525.641 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.742302 2025-10-27T04:15:25.892Z,1761538525.892 [DAT](INFO): DAT read: Rx Time:04:15:24.6633 2025-10-27T04:15:25.893Z,1761538525.893 [DAT](INFO): Rx dataTimestamp_ set to:1761538525.892246 2025-10-27T04:15:25.894Z,1761538525.894 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:25.894Z,1761538525.894 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-27T04:15:25.895Z,1761538525.895 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.997059 2025-10-27T04:15:26.022Z,1761538526.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438619,0.898611,0.010602],[-0.897988,0.438715,-0.033874],[-0.035091,0.005337,0.999370]] 2025-10-27T04:15:26.144Z,1761538526.144 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.245697 2025-10-27T04:15:26.385Z,1761538526.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438967,0.898425,0.011815],[-0.897697,0.439093,-0.036588],[-0.038059,0.005455,0.999261]] 2025-10-27T04:15:26.396Z,1761538526.396 [DAT](INFO): DAT read: Rx Time:04:15:25.1634 2025-10-27T04:15:26.397Z,1761538526.397 [DAT](INFO): Rx dataTimestamp_ set to:1761538526.396391 2025-10-27T04:15:26.398Z,1761538526.398 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:26.398Z,1761538526.398 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-27T04:15:26.399Z,1761538526.399 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.501190 2025-10-27T04:15:26.649Z,1761538526.649 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.750729 2025-10-27T04:15:26.900Z,1761538526.900 [DAT](INFO): DAT read: Rx Time:04:15:25.6633 2025-10-27T04:15:26.901Z,1761538526.901 [DAT](INFO): Rx dataTimestamp_ set to:1761538526.900662 2025-10-27T04:15:26.903Z,1761538526.903 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:26.904Z,1761538526.904 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-27T04:15:26.905Z,1761538526.905 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.006268 2025-10-27T04:15:27.152Z,1761538527.152 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.253639 2025-10-27T04:15:27.193Z,1761538527.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436968,0.899419,0.010235],[-0.898889,0.437066,-0.031175],[-0.032513,0.004422,0.999462]] 2025-10-27T04:15:27.406Z,1761538527.406 [DAT](INFO): DAT read: Rx Time:04:15:26.1634 2025-10-27T04:15:27.406Z,1761538527.406 [DAT](INFO): Rx dataTimestamp_ set to:1761538527.405745 2025-10-27T04:15:27.407Z,1761538527.407 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:27.408Z,1761538527.408 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-27T04:15:27.409Z,1761538527.409 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.510555 2025-10-27T04:15:27.597Z,1761538527.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433860,0.900944,0.008119],[-0.900623,0.433924,-0.024263],[-0.025383,0.003214,0.999673]] 2025-10-27T04:15:27.657Z,1761538527.657 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.758209 2025-10-27T04:15:27.908Z,1761538527.908 [DAT](INFO): DAT read: Rx Time:04:15:26.6633 2025-10-27T04:15:27.909Z,1761538527.909 [DAT](INFO): Rx dataTimestamp_ set to:1761538527.908278 2025-10-27T04:15:27.910Z,1761538527.910 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:27.910Z,1761538527.910 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-27T04:15:27.911Z,1761538527.911 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.013084 2025-10-27T04:15:28.033Z,1761538528.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430375,0.902611,0.008413],[-0.902486,0.430456,-0.015057],[-0.017212,-0.001112,0.999851]] 2025-10-27T04:15:28.160Z,1761538528.160 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.261787 2025-10-27T04:15:28.406Z,1761538528.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426596,0.904387,0.009944],[-0.904405,0.426652,-0.004322],[-0.008151,-0.007150,0.999941]] 2025-10-27T04:15:28.412Z,1761538528.412 [DAT](INFO): DAT read: Rx Time:04:15:27.1634 2025-10-27T04:15:28.413Z,1761538528.413 [DAT](INFO): Rx dataTimestamp_ set to:1761538528.412232 2025-10-27T04:15:28.414Z,1761538528.414 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:28.414Z,1761538528.414 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-27T04:15:28.415Z,1761538528.415 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.517033 2025-10-27T04:15:28.664Z,1761538528.664 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.765640 2025-10-27T04:15:28.917Z,1761538528.917 [DAT](INFO): DAT read: Rx Time:04:15:27.6633 2025-10-27T04:15:28.917Z,1761538528.917 [DAT](INFO): Rx dataTimestamp_ set to:1761538528.917000 2025-10-27T04:15:28.919Z,1761538528.919 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:28.920Z,1761538528.920 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-27T04:15:28.921Z,1761538528.921 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=58.022640 2025-10-27T04:15:29.168Z,1761538529.168 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=58.269615 2025-10-27T04:15:29.213Z,1761538529.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418907,0.908029,0.000857],[-0.907984,0.418876,0.010426],[0.009108,-0.005146,0.999945]] 2025-10-27T04:15:29.420Z,1761538529.420 [DAT](INFO): DAT read: Rx Time:04:15:28.1634 2025-10-27T04:15:29.421Z,1761538529.421 [DAT](INFO): Rx dataTimestamp_ set to:1761538529.420333 2025-10-27T04:15:29.422Z,1761538529.422 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:29.422Z,1761538529.422 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-27T04:15:29.423Z,1761538529.423 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.525154 2025-10-27T04:15:29.617Z,1761538529.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416147,0.909281,-0.005518],[-0.909136,0.416180,0.016334],[0.017148,-0.001781,0.999851]] 2025-10-27T04:15:29.675Z,1761538529.675 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.777012 2025-10-27T04:15:29.924Z,1761538529.924 [DAT](INFO): DAT read: Rx Time:04:15:28.6634 2025-10-27T04:15:29.925Z,1761538529.925 [DAT](INFO): Rx dataTimestamp_ set to:1761538529.924252 2025-10-27T04:15:29.926Z,1761538529.926 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:29.926Z,1761538529.926 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-27T04:15:29.927Z,1761538529.927 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=59.029060 2025-10-27T04:15:30.059Z,1761538530.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413009,0.910666,-0.010548],[-0.910376,0.413144,0.022956],[0.025263,0.000122,0.999681]] 2025-10-27T04:15:30.184Z,1761538530.184 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=59.285446 2025-10-27T04:15:30.428Z,1761538530.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410194,0.911863,-0.015723],[-0.911411,0.410488,0.028801],[0.032717,0.002516,0.999461]] 2025-10-27T04:15:30.436Z,1761538530.436 [DAT](INFO): DAT read: Rx Time:04:15:29.1634 2025-10-27T04:15:30.437Z,1761538530.437 [DAT](INFO): Rx dataTimestamp_ set to:1761538530.436507 2025-10-27T04:15:30.438Z,1761538530.438 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T04:15:30.439Z,1761538530.439 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-27T04:15:30.440Z,1761538530.440 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.541321 2025-10-27T04:15:30.688Z,1761538530.688 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.789822 2025-10-27T04:15:30.837Z,1761538530.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407494,0.912937,-0.022234],[-0.912410,0.408035,0.031867],[0.038165,0.007300,0.999245]] 2025-10-27T04:15:30.940Z,1761538530.940 [DAT](INFO): DAT read: Rx Time:04:15:29.6633 2025-10-27T04:15:30.941Z,1761538530.941 [DAT](INFO): Rx dataTimestamp_ set to:1761538530.940512 2025-10-27T04:15:30.942Z,1761538530.942 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:30.943Z,1761538530.943 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-27T04:15:30.944Z,1761538530.944 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=60.045341 2025-10-27T04:15:31.192Z,1761538531.192 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=60.293697 2025-10-27T04:15:31.238Z,1761538531.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404548,0.914224,-0.023157],[-0.913579,0.405150,0.035031],[0.041408,0.006984,0.999118]] 2025-10-27T04:15:31.444Z,1761538531.444 [DAT](INFO): DAT read: Rx Time:04:15:30.1633 2025-10-27T04:15:31.445Z,1761538531.445 [DAT](INFO): Rx dataTimestamp_ set to:1761538531.444306 2025-10-27T04:15:31.446Z,1761538531.446 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:31.446Z,1761538531.446 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-27T04:15:31.447Z,1761538531.447 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.549133 2025-10-27T04:15:31.638Z,1761538531.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401672,0.915489,-0.023225],[-0.914864,0.402276,0.034599],[0.041018,0.007350,0.999131]] 2025-10-27T04:15:31.696Z,1761538531.696 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.798115 2025-10-27T04:15:31.948Z,1761538531.948 [DAT](INFO): DAT read: Rx Time:04:15:30.6632 2025-10-27T04:15:31.949Z,1761538531.949 [DAT](INFO): Rx dataTimestamp_ set to:1761538531.948315 2025-10-27T04:15:31.950Z,1761538531.950 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:15:31.950Z,1761538531.950 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-27T04:15:31.951Z,1761538531.951 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=61.053150 2025-10-27T04:15:32.087Z,1761538532.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396590,0.917827,-0.017590],[-0.917478,0.396937,0.025988],[0.030834,0.005832,0.999507]] 2025-10-27T04:15:32.200Z,1761538532.200 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=61.301723 2025-10-27T04:15:32.452Z,1761538532.452 [DAT](INFO): DAT read: Rx Time:04:15:31.1633 2025-10-27T04:15:32.453Z,1761538532.453 [DAT](INFO): Rx dataTimestamp_ set to:1761538532.452288 2025-10-27T04:15:32.454Z,1761538532.454 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T04:15:32.454Z,1761538532.454 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-27T04:15:32.455Z,1761538532.455 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.557144 2025-10-27T04:15:32.705Z,1761538532.705 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.806370 2025-10-27T04:15:32.853Z,1761538532.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393834,0.919138,-0.008930],[-0.918880,0.393935,0.021798],[0.023553,-0.000379,0.999723]] 2025-10-27T04:15:32.957Z,1761538532.957 [DAT](INFO): DAT read: Rx Time:04:15:31.6632 2025-10-27T04:15:32.957Z,1761538532.957 [DAT](INFO): Rx dataTimestamp_ set to:1761538532.956985 2025-10-27T04:15:32.960Z,1761538532.960 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T04:15:32.961Z,1761538532.961 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-27T04:15:32.962Z,1761538532.962 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:15:32.962Z,1761538532.962 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:15:32.962Z,1761538532.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:15:33.208Z,1761538533.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:33.253Z,1761538533.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389271,0.921122,-0.001162],[-0.920990,0.389236,0.016528],[0.015677,-0.005364,0.999863]] 2025-10-27T04:15:33.460Z,1761538533.460 [DAT](INFO): DAT read: user:122> 2025-10-27T04:15:33.460Z,1761538533.460 [DAT](INFO): DAT read: 50 2025-10-27T04:15:33.461Z,1761538533.461 [DAT](INFO): unknown deviceResponse_: 50 2025-10-27T04:15:33.461Z,1761538533.461 [DAT](INFO): DAT read: Ok 2025-10-27T04:15:33.461Z,1761538533.461 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T04:15:33.462Z,1761538533.462 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:33.657Z,1761538533.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383574,0.923504,0.003197],[-0.923485,0.383536,0.008720],[0.006827,-0.006297,0.999957]] 2025-10-27T04:15:33.712Z,1761538533.712 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:33.964Z,1761538533.964 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:34.216Z,1761538534.216 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:34.468Z,1761538534.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:34.720Z,1761538534.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:34.871Z,1761538534.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362702,0.931905,0.000861],[-0.931685,0.362636,-0.021417],[-0.020271,0.006965,0.999770]] 2025-10-27T04:15:34.972Z,1761538534.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:35.224Z,1761538535.224 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:35.273Z,1761538535.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354671,0.934989,0.002206],[-0.934600,0.354590,-0.028073],[-0.027031,0.007895,0.999603]] 2025-10-27T04:15:35.476Z,1761538535.476 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:35.728Z,1761538535.728 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:35.980Z,1761538535.980 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:36.109Z,1761538536.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326603,0.945152,0.004250],[-0.944768,0.326594,-0.027369],[-0.027256,0.004924,0.999616]] 2025-10-27T04:15:36.232Z,1761538536.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:36.484Z,1761538536.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:36.496Z,1761538536.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316997,0.948425,0.002042],[-0.948214,0.316970,-0.020484],[-0.020075,0.004557,0.999788]] 2025-10-27T04:15:36.736Z,1761538536.736 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:36.894Z,1761538536.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307871,0.951428,-0.000808],[-0.951366,0.307841,-0.011718],[-0.010900,0.004377,0.999931]] 2025-10-27T04:15:36.988Z,1761538536.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:37.240Z,1761538537.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:37.296Z,1761538537.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299746,0.954019,-0.000676],[-0.954019,0.299746,-0.000679],[-0.000445,0.000849,1.000000]] 2025-10-27T04:15:37.492Z,1761538537.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:37.702Z,1761538537.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293055,0.956094,0.001723],[-0.956035,0.293015,0.011803],[0.010780,-0.005106,0.999929]] 2025-10-27T04:15:37.744Z,1761538537.744 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:37.996Z,1761538537.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:38.108Z,1761538538.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287954,0.957642,0.002232],[-0.957393,0.287824,0.023558],[0.021917,-0.008921,0.999720]] 2025-10-27T04:15:38.248Z,1761538538.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:38.500Z,1761538538.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:38.506Z,1761538538.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284372,0.958712,-0.001702],[-0.958168,0.284270,0.033237],[0.032349,-0.007821,0.999446]] 2025-10-27T04:15:38.752Z,1761538538.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:38.909Z,1761538538.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282664,0.959188,-0.007749],[-0.958270,0.282735,0.042184],[0.042653,-0.004499,0.999080]] 2025-10-27T04:15:39.004Z,1761538539.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:39.256Z,1761538539.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:39.333Z,1761538539.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281621,0.959392,-0.016012],[-0.958091,0.282073,0.049957],[0.052445,0.001272,0.998623]] 2025-10-27T04:15:39.509Z,1761538539.509 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:39.725Z,1761538539.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282543,0.958974,-0.023202],[-0.957314,0.283426,0.056741],[0.060989,0.006180,0.998119]] 2025-10-27T04:15:39.760Z,1761538539.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:40.012Z,1761538540.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:40.122Z,1761538540.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284464,0.958379,-0.024283],[-0.956282,0.285452,0.063572],[0.067858,0.005137,0.997682]] 2025-10-27T04:15:40.265Z,1761538540.265 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:40.516Z,1761538540.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:40.527Z,1761538540.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288672,0.957046,-0.027048],[-0.954867,0.289850,0.064929],[0.069980,0.007084,0.997523]] 2025-10-27T04:15:40.768Z,1761538540.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:40.930Z,1761538540.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295071,0.955064,-0.028035],[-0.953081,0.296280,0.062077],[0.067594,0.008402,0.997678]] 2025-10-27T04:15:41.023Z,1761538541.023 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:41.276Z,1761538541.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:41.341Z,1761538541.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302931,0.952664,-0.025771],[-0.951032,0.303934,0.056243],[0.061413,0.007472,0.998084]] 2025-10-27T04:15:41.528Z,1761538541.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:41.738Z,1761538541.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311374,0.949974,-0.024392],[-0.948836,0.312214,0.047244],[0.052496,0.008433,0.998586]] 2025-10-27T04:15:41.780Z,1761538541.780 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:42.032Z,1761538542.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:42.141Z,1761538542.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320596,0.946997,-0.020382],[-0.946263,0.321165,0.037945],[0.042480,0.007122,0.999072]] 2025-10-27T04:15:42.284Z,1761538542.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:42.536Z,1761538542.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:42.552Z,1761538542.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329579,0.944012,-0.014787],[-0.943561,0.329884,0.029485],[0.032713,0.004235,0.999456]] 2025-10-27T04:15:42.788Z,1761538542.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:42.949Z,1761538542.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337875,0.941159,-0.007807],[-0.940890,0.337965,0.022483],[0.023799,-0.000251,0.999717]] 2025-10-27T04:15:43.046Z,1761538543.046 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:43.300Z,1761538543.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:43.353Z,1761538543.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345021,0.938591,-0.002613],[-0.938468,0.345019,0.015470],[0.015421,-0.002885,0.999877]] 2025-10-27T04:15:43.552Z,1761538543.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:43.757Z,1761538543.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351154,0.936318,-0.000527],[-0.936291,0.351148,0.007330],[0.007048,-0.002081,0.999973]] 2025-10-27T04:15:43.805Z,1761538543.805 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:44.056Z,1761538544.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:44.163Z,1761538544.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356128,0.934435,0.002145],[-0.934437,0.356129,-0.000159],[-0.000913,-0.001948,0.999998]] 2025-10-27T04:15:44.308Z,1761538544.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:44.560Z,1761538544.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:44.570Z,1761538544.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360149,0.932876,0.005921],[-0.932853,0.360186,-0.007181],[-0.008832,-0.002937,0.999957]] 2025-10-27T04:15:44.813Z,1761538544.813 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:44.969Z,1761538544.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361920,0.932162,0.009393],[-0.932052,0.362026,-0.014687],[-0.017091,-0.003440,0.999848]] 2025-10-27T04:15:45.064Z,1761538545.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:45.316Z,1761538545.316 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:45.378Z,1761538545.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361287,0.932371,0.012534],[-0.932107,0.361486,-0.022442],[-0.025455,-0.003575,0.999670]] 2025-10-27T04:15:45.568Z,1761538545.568 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:45.777Z,1761538545.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358854,0.933260,0.015794],[-0.932773,0.359181,-0.030387],[-0.034031,-0.003828,0.999413]] 2025-10-27T04:15:45.821Z,1761538545.821 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:46.072Z,1761538546.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:46.182Z,1761538546.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353981,0.935106,0.016589],[-0.934293,0.354365,-0.039011],[-0.042357,-0.001690,0.999101]] 2025-10-27T04:15:46.325Z,1761538546.325 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:46.583Z,1761538546.583 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:46.590Z,1761538546.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347215,0.937677,0.014233],[-0.936444,0.347490,-0.048203],[-0.050144,0.003408,0.998736]] 2025-10-27T04:15:46.836Z,1761538546.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:46.990Z,1761538546.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338854,0.940689,0.016771],[-0.939197,0.339262,-0.053013],[-0.055558,0.002213,0.998453]] 2025-10-27T04:15:47.088Z,1761538547.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:47.340Z,1761538547.340 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:47.402Z,1761538547.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329428,0.943977,0.019602],[-0.942392,0.330010,-0.054687],[-0.058093,-0.000458,0.998311]] 2025-10-27T04:15:47.592Z,1761538547.592 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:47.803Z,1761538547.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320313,0.947118,0.019152],[-0.945553,0.320885,-0.054424],[-0.057692,-0.000677,0.998334]] 2025-10-27T04:15:47.846Z,1761538547.846 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:48.097Z,1761538548.097 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:48.201Z,1761538548.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311740,0.949977,0.018997],[-0.948650,0.312310,-0.050252],[-0.053672,-0.002356,0.998556]] 2025-10-27T04:15:48.348Z,1761538548.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:48.600Z,1761538548.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:48.610Z,1761538548.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303948,0.952548,0.016341],[-0.951540,0.304379,-0.043875],[-0.046767,-0.002213,0.998903]] 2025-10-27T04:15:48.852Z,1761538548.852 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:49.011Z,1761538549.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297484,0.954627,0.013782],[-0.953987,0.297790,-0.035059],[-0.037572,-0.002718,0.999290]] 2025-10-27T04:15:49.108Z,1761538549.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:49.360Z,1761538549.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:49.414Z,1761538549.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292360,0.956253,0.010282],[-0.955920,0.292531,-0.025340],[-0.027239,-0.002420,0.999626]] 2025-10-27T04:15:49.612Z,1761538549.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:49.826Z,1761538549.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288980,0.957313,0.006511],[-0.957191,0.289048,-0.015398],[-0.016623,-0.001783,0.999860]] 2025-10-27T04:15:49.865Z,1761538549.865 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:50.116Z,1761538550.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:50.222Z,1761538550.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287141,0.957869,0.006059],[-0.957873,0.287167,-0.003854],[-0.005432,-0.004697,0.999974]] 2025-10-27T04:15:50.368Z,1761538550.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:50.621Z,1761538550.621 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:50.632Z,1761538550.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286795,0.957966,0.007001],[-0.957970,0.286731,0.008879],[0.006498,-0.009253,0.999936]] 2025-10-27T04:15:50.872Z,1761538550.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:51.030Z,1761538551.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288114,0.957587,0.004091],[-0.957411,0.287972,0.020871],[0.018807,-0.009930,0.999774]] 2025-10-27T04:15:51.124Z,1761538551.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:51.379Z,1761538551.379 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:51.628Z,1761538551.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:51.838Z,1761538551.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293955,0.955732,-0.012912],[-0.954760,0.294239,0.043097],[0.044988,-0.000341,0.998987]] 2025-10-27T04:15:51.880Z,1761538551.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:52.132Z,1761538552.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:52.242Z,1761538552.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298645,0.954032,-0.025202],[-0.952554,0.299600,0.053671],[0.058755,0.007978,0.998241]] 2025-10-27T04:15:52.388Z,1761538552.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:52.636Z,1761538552.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:52.650Z,1761538552.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304609,0.951836,-0.034949],[-0.949754,0.306306,0.064367],[0.071972,0.013586,0.997314]] 2025-10-27T04:15:52.888Z,1761538552.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:53.049Z,1761538553.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311372,0.949502,-0.038637],[-0.946633,0.313480,0.074940],[0.083268,0.013241,0.996439]] 2025-10-27T04:15:53.140Z,1761538553.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:53.396Z,1761538553.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:53.453Z,1761538553.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319497,0.946600,-0.043242],[-0.943293,0.322058,0.080481],[0.090110,0.015077,0.995818]] 2025-10-27T04:15:53.649Z,1761538553.649 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:53.859Z,1761538553.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328845,0.943257,-0.046117],[-0.939884,0.331649,0.081403],[0.092079,0.016576,0.995614]] 2025-10-27T04:15:53.900Z,1761538553.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:54.152Z,1761538554.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:54.261Z,1761538554.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339318,0.939621,-0.044447],[-0.936408,0.341896,0.079041],[0.089465,0.014800,0.995880]] 2025-10-27T04:15:54.409Z,1761538554.409 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:54.660Z,1761538554.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:54.671Z,1761538554.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350904,0.935369,-0.044167],[-0.932777,0.353305,0.071440],[0.082427,0.016130,0.996467]] 2025-10-27T04:15:54.912Z,1761538554.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:55.069Z,1761538555.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362439,0.931114,-0.040803],[-0.929152,0.364406,0.062328],[0.072903,0.015322,0.997221]] 2025-10-27T04:15:55.164Z,1761538555.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:55.421Z,1761538555.421 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:55.474Z,1761538555.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373166,0.927060,-0.036157],[-0.925681,0.374656,0.052419],[0.062142,0.013908,0.997970]] 2025-10-27T04:15:55.668Z,1761538555.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:55.877Z,1761538555.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382854,0.923299,-0.030691],[-0.922377,0.383899,0.042932],[0.051421,0.011872,0.998607]] 2025-10-27T04:15:55.920Z,1761538555.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:56.172Z,1761538556.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:56.281Z,1761538556.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391968,0.919642,-0.024897],[-0.919034,0.392648,0.034691],[0.041679,0.009284,0.999088]] 2025-10-27T04:15:56.426Z,1761538556.426 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:56.679Z,1761538556.679 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:56.693Z,1761538556.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399611,0.916474,-0.019635],[-0.916094,0.400031,0.027325],[0.032897,0.007069,0.999434]] 2025-10-27T04:15:56.932Z,1761538556.932 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:57.092Z,1761538557.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405729,0.913811,-0.018290],[-0.913661,0.406040,0.018870],[0.024670,0.009055,0.999655]] 2025-10-27T04:15:57.184Z,1761538557.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:57.438Z,1761538557.438 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:57.493Z,1761538557.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409913,0.911976,-0.016481],[-0.911965,0.410112,0.011326],[0.017089,0.010388,0.999800]] 2025-10-27T04:15:57.688Z,1761538557.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:57.897Z,1761538557.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411599,0.911283,-0.012244],[-0.911310,0.411685,0.005461],[0.010017,0.008911,0.999910]] 2025-10-27T04:15:57.940Z,1761538557.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:58.192Z,1761538558.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:58.309Z,1761538558.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410724,0.911743,-0.005474],[-0.911755,0.410734,0.000645],[0.002836,0.004726,0.999985]] 2025-10-27T04:15:58.446Z,1761538558.446 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:58.696Z,1761538558.696 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:58.722Z,1761538558.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407129,0.913369,0.001469],[-0.913356,0.407131,-0.005000],[-0.005165,0.000694,0.999986]] 2025-10-27T04:15:58.948Z,1761538558.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:59.110Z,1761538559.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401195,0.915960,0.007742],[-0.915874,0.401265,-0.012691],[-0.014731,-0.001999,0.999889]] 2025-10-27T04:15:59.200Z,1761538559.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:59.454Z,1761538559.454 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:59.520Z,1761538559.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392181,0.919728,0.017152],[-0.919534,0.392479,-0.020427],[-0.025519,-0.007761,0.999644]] 2025-10-27T04:15:59.706Z,1761538559.706 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:15:59.918Z,1761538559.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380781,0.924328,0.024975],[-0.923906,0.381424,-0.030227],[-0.037465,-0.011565,0.999231]] 2025-10-27T04:15:59.956Z,1761538559.956 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:00.208Z,1761538560.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:00.326Z,1761538560.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367296,0.929610,0.030311],[-0.928765,0.368320,-0.041651],[-0.049883,-0.012853,0.998672]] 2025-10-27T04:16:00.462Z,1761538560.462 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:00.712Z,1761538560.712 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:00.734Z,1761538560.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353310,0.935033,0.029745],[-0.933401,0.354469,-0.055807],[-0.062725,-0.008047,0.997998]] 2025-10-27T04:16:00.964Z,1761538560.964 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:01.130Z,1761538561.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340641,0.939762,0.028469],[-0.937334,0.341809,-0.067615],[-0.073273,-0.003652,0.997305]] 2025-10-27T04:16:01.217Z,1761538561.217 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:01.468Z,1761538561.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:01.548Z,1761538561.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329486,0.943589,0.032848],[-0.940907,0.331037,-0.071473],[-0.078315,-0.007358,0.996902]] 2025-10-27T04:16:01.720Z,1761538561.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:01.940Z,1761538561.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320385,0.946745,0.032049],[-0.944108,0.321896,-0.071017],[-0.077552,-0.007505,0.996960]] 2025-10-27T04:16:01.972Z,1761538561.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:02.224Z,1761538562.224 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:02.342Z,1761538562.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313147,0.949259,0.029090],[-0.947142,0.314404,-0.063819],[-0.069727,-0.007567,0.997537]] 2025-10-27T04:16:02.478Z,1761538562.478 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:02.728Z,1761538562.728 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:02.750Z,1761538562.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307664,0.951156,0.025392],[-0.949869,0.308588,-0.050212],[-0.055595,-0.008671,0.998416]] 2025-10-27T04:16:02.982Z,1761538562.982 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:03.150Z,1761538563.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304662,0.952279,0.018608],[-0.951681,0.305145,-0.034489],[-0.038522,-0.007201,0.999232]] 2025-10-27T04:16:03.232Z,1761538563.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:03.484Z,1761538563.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:03.736Z,1761538563.736 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:03.958Z,1761538563.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304406,0.952493,0.009682],[-0.952541,0.304409,0.001199],[-0.001805,-0.009588,0.999952]] 2025-10-27T04:16:03.988Z,1761538563.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:04.240Z,1761538564.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:04.362Z,1761538564.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307185,0.951636,0.005203],[-0.951498,0.307034,0.019547],[0.017004,-0.010955,0.999795]] 2025-10-27T04:16:04.495Z,1761538564.495 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:04.764Z,1761538564.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:04.791Z,1761538564.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311016,0.950401,-0.002714],[-0.949723,0.310900,0.036971],[0.035981,-0.008921,0.999313]] 2025-10-27T04:16:05.004Z,1761538565.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:05.170Z,1761538565.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315781,0.948701,-0.015760],[-0.947224,0.316169,0.052943],[0.055210,-0.001790,0.998473]] 2025-10-27T04:16:05.256Z,1761538565.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:05.508Z,1761538565.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:05.602Z,1761538565.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322653,0.945985,-0.031731],[-0.943714,0.324095,0.066081],[0.072796,0.008624,0.997310]] 2025-10-27T04:16:05.760Z,1761538565.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:05.986Z,1761538565.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331014,0.942735,-0.040988],[-0.939525,0.333310,0.078722],[0.087876,0.012452,0.996054]] 2025-10-27T04:16:06.012Z,1761538566.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:06.264Z,1761538566.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:06.383Z,1761538566.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341368,0.938851,-0.045010],[-0.934774,0.344115,0.088223],[0.098317,0.011958,0.995083]] 2025-10-27T04:16:06.518Z,1761538566.518 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:06.768Z,1761538566.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:06.794Z,1761538566.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353927,0.933871,-0.051197],[-0.929696,0.357258,0.089620],[0.101984,0.015879,0.994659]] 2025-10-27T04:16:07.020Z,1761538567.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:07.190Z,1761538567.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368859,0.928136,-0.050071],[-0.924092,0.371981,0.087659],[0.099985,0.013936,0.994891]] 2025-10-27T04:16:07.273Z,1761538567.273 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:07.524Z,1761538567.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:07.630Z,1761538567.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385129,0.921621,-0.047866],[-0.918186,0.387877,0.080536],[0.092790,0.012933,0.995602]] 2025-10-27T04:16:07.778Z,1761538567.778 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:08.028Z,1761538568.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:08.281Z,1761538568.281 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:08.402Z,1761538568.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419783,0.906863,-0.037185],[-0.904896,0.421344,0.060270],[0.070324,0.008348,0.997489]] 2025-10-27T04:16:08.532Z,1761538568.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:08.784Z,1761538568.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:08.816Z,1761538568.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436152,0.899434,-0.028123],[-0.897947,0.437049,0.051760],[0.058846,0.002678,0.998263]] 2025-10-27T04:16:09.036Z,1761538569.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:09.211Z,1761538569.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450550,0.892524,-0.020120],[-0.891469,0.450997,0.043428],[0.047834,-0.001630,0.998854]] 2025-10-27T04:16:09.289Z,1761538569.289 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:09.540Z,1761538569.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:09.651Z,1761538569.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463029,0.886163,-0.017862],[-0.885580,0.463372,0.032166],[0.036782,0.000925,0.999323]] 2025-10-27T04:16:09.793Z,1761538569.793 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:10.017Z,1761538570.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473563,0.880607,-0.016388],[-0.880355,0.473828,0.021501],[0.026699,0.004246,0.999635]] 2025-10-27T04:16:10.044Z,1761538570.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:10.296Z,1761538570.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:10.422Z,1761538570.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481184,0.876505,-0.014174],[-0.876442,0.481349,0.012341],[0.017639,0.006484,0.999823]] 2025-10-27T04:16:10.548Z,1761538570.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:10.800Z,1761538570.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:10.832Z,1761538570.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485770,0.874015,-0.011209],[-0.874033,0.485842,0.004840],[0.009676,0.007446,0.999925]] 2025-10-27T04:16:11.052Z,1761538571.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:11.231Z,1761538571.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487017,0.873361,-0.007355],[-0.873389,0.487021,-0.001332],[0.002419,0.007072,0.999972]] 2025-10-27T04:16:11.305Z,1761538571.305 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:11.556Z,1761538571.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:11.681Z,1761538571.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485043,0.874489,-0.001596],[-0.874477,0.485024,-0.006528],[-0.004935,0.004562,0.999977]] 2025-10-27T04:16:11.808Z,1761538571.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:12.038Z,1761538572.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479721,0.877398,0.006388],[-0.877325,0.479763,-0.011318],[-0.012995,-0.000175,0.999916]] 2025-10-27T04:16:12.060Z,1761538572.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:12.312Z,1761538572.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:12.446Z,1761538572.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471455,0.881787,0.013464],[-0.881604,0.471636,-0.018278],[-0.022468,-0.003253,0.999742]] 2025-10-27T04:16:12.564Z,1761538572.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:12.816Z,1761538572.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:12.858Z,1761538572.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460213,0.887555,0.021185],[-0.887179,0.460655,-0.026673],[-0.033433,-0.006519,0.999420]] 2025-10-27T04:16:13.068Z,1761538573.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:13.320Z,1761538573.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:13.572Z,1761538573.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:13.667Z,1761538573.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429151,0.902562,0.034806],[-0.901382,0.430419,-0.047435],[-0.057794,-0.011017,0.998268]] 2025-10-27T04:16:13.824Z,1761538573.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:14.059Z,1761538574.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412407,0.910336,0.034772],[-0.908291,0.413822,-0.061309],[-0.070202,-0.006299,0.997513]] 2025-10-27T04:16:14.076Z,1761538574.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:14.082Z,1761538574.082 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -103.15, +549.10, + 7.77, 0.00 2025-10-27T04:16:14.328Z,1761538574.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:14.580Z,1761538574.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:14.832Z,1761538574.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:14.869Z,1761538574.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383903,0.922461,0.041031],[-0.919605,0.385969,-0.073173],[-0.083336,-0.009641,0.996475]] 2025-10-27T04:16:15.084Z,1761538575.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:15.273Z,1761538575.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373609,0.926854,0.036858],[-0.924066,0.375356,-0.072186],[-0.080741,-0.007090,0.996710]] 2025-10-27T04:16:15.336Z,1761538575.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:15.588Z,1761538575.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:15.678Z,1761538575.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365771,0.930168,0.031608],[-0.928020,0.367083,-0.063468],[-0.070639,-0.006118,0.997483]] 2025-10-27T04:16:15.840Z,1761538575.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:16.078Z,1761538576.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359650,0.932766,0.024476],[-0.931466,0.360447,-0.049481],[-0.054977,-0.005003,0.998475]] 2025-10-27T04:16:16.092Z,1761538576.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:16.344Z,1761538576.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:16.482Z,1761538576.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354923,0.934761,0.015875],[-0.934200,0.355263,-0.032533],[-0.036050,-0.003284,0.999345]] 2025-10-27T04:16:16.596Z,1761538576.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:16.848Z,1761538576.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:16.889Z,1761538576.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351336,0.936205,0.009119],[-0.936110,0.351435,-0.013840],[-0.016162,-0.003674,0.999863]] 2025-10-27T04:16:17.100Z,1761538577.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:17.297Z,1761538577.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349167,0.937053,0.003619],[-0.937051,0.349144,0.005739],[0.004114,-0.005395,0.999977]] 2025-10-27T04:16:17.354Z,1761538577.354 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:17.604Z,1761538577.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:17.703Z,1761538577.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348062,0.937469,-0.002338],[-0.937150,0.348007,0.025314],[0.024545,-0.006620,0.999677]] 2025-10-27T04:16:17.856Z,1761538577.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:18.097Z,1761538578.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349493,0.936876,-0.010812],[-0.935858,0.349621,0.043989],[0.044992,-0.005255,0.998973]] 2025-10-27T04:16:18.108Z,1761538578.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:18.360Z,1761538578.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:18.501Z,1761538578.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353452,0.935152,-0.023721],[-0.933266,0.354245,0.059370],[0.063923,0.001153,0.997954]] 2025-10-27T04:16:18.612Z,1761538578.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:18.864Z,1761538578.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:18.919Z,1761538578.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359371,0.932495,-0.036132],[-0.929766,0.361098,0.071721],[0.079927,0.007820,0.996770]] 2025-10-27T04:16:19.116Z,1761538579.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:19.314Z,1761538579.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367568,0.929118,-0.040412],[-0.925490,0.369714,0.082336],[0.091440,0.007137,0.995785]] 2025-10-27T04:16:19.368Z,1761538579.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:19.620Z,1761538579.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:19.718Z,1761538579.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378598,0.924432,-0.045705],[-0.920569,0.381219,0.085001],[0.096001,0.009893,0.995332]] 2025-10-27T04:16:19.872Z,1761538579.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:20.117Z,1761538580.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392793,0.918455,-0.046412],[-0.914780,0.395399,0.082682],[0.094291,0.009979,0.995495]] 2025-10-27T04:16:20.126Z,1761538580.126 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:20.376Z,1761538580.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:20.532Z,1761538580.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428825,0.902393,-0.042377],[-0.900132,0.430788,0.064683],[0.076625,0.010407,0.997006]] 2025-10-27T04:16:20.628Z,1761538580.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:20.880Z,1761538580.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:20.930Z,1761538580.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449179,0.892729,-0.035667],[-0.891084,0.450535,0.054657],[0.064863,0.007231,0.997868]] 2025-10-27T04:16:21.132Z,1761538581.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:21.334Z,1761538581.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469103,0.882828,-0.023616],[-0.881505,0.469693,0.048344],[0.053772,-0.001861,0.998552]] 2025-10-27T04:16:21.386Z,1761538581.386 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:21.636Z,1761538581.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:21.740Z,1761538581.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486688,0.873460,-0.014240],[-0.872511,0.486835,0.041431],[0.043121,-0.007739,0.999040]] 2025-10-27T04:16:21.888Z,1761538581.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:22.140Z,1761538582.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:22.145Z,1761538582.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504095,0.863559,-0.012401],[-0.863075,0.504231,0.029199],[0.031468,-0.004016,0.999497]] 2025-10-27T04:16:22.392Z,1761538582.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:22.543Z,1761538582.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519647,0.854301,-0.011714],[-0.854137,0.519777,0.016781],[0.020425,0.001286,0.999791]] 2025-10-27T04:16:22.644Z,1761538582.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:22.896Z,1761538582.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:22.984Z,1761538582.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532345,0.846468,-0.009998],[-0.846467,0.532411,0.005641],[0.010098,0.005460,0.999934]] 2025-10-27T04:16:23.148Z,1761538583.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:23.349Z,1761538583.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541325,0.840741,-0.011023],[-0.840813,0.541288,-0.006334],[0.000642,0.012697,0.999919]] 2025-10-27T04:16:23.400Z,1761538583.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:23.652Z,1761538583.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:23.754Z,1761538583.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546140,0.837643,-0.009201],[-0.837661,0.545988,-0.014909],[-0.007465,0.015850,0.999847]] 2025-10-27T04:16:23.904Z,1761538583.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:24.156Z,1761538584.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:24.159Z,1761538584.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546024,0.837755,-0.004925],[-0.837657,0.545845,-0.019599],[-0.013731,0.014827,0.999796]] 2025-10-27T04:16:24.408Z,1761538584.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:24.562Z,1761538584.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541784,0.840516,-0.001457],[-0.840307,0.541609,-0.023343],[-0.018830,0.013871,0.999726]] 2025-10-27T04:16:24.660Z,1761538584.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:24.912Z,1761538584.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:24.974Z,1761538584.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534304,0.845290,0.002028],[-0.844970,0.534165,-0.026335],[-0.023344,0.012357,0.999651]] 2025-10-27T04:16:25.164Z,1761538585.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:25.371Z,1761538585.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522499,0.852615,0.006472],[-0.852210,0.522461,-0.027778],[-0.027065,0.008999,0.999593]] 2025-10-27T04:16:25.416Z,1761538585.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:25.668Z,1761538585.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:25.782Z,1761538585.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506609,0.862120,0.009826],[-0.861623,0.506660,-0.030015],[-0.030855,0.006740,0.999501]] 2025-10-27T04:16:25.920Z,1761538585.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:26.172Z,1761538586.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:26.179Z,1761538586.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486690,0.873474,0.013222],[-0.872883,0.486851,-0.032427],[-0.034761,0.004241,0.999387]] 2025-10-27T04:16:26.424Z,1761538586.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:26.583Z,1761538586.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463542,0.885899,0.017644],[-0.885231,0.463878,-0.034390],[-0.038651,0.000322,0.999253]] 2025-10-27T04:16:26.679Z,1761538586.679 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:26.934Z,1761538586.934 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:26.986Z,1761538586.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438149,0.898680,0.019988],[-0.897884,0.438603,-0.037832],[-0.042766,-0.001371,0.999084]] 2025-10-27T04:16:27.184Z,1761538587.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:27.390Z,1761538587.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413890,0.910106,0.020022],[-0.909099,0.414374,-0.042810],[-0.047258,-0.000483,0.998883]] 2025-10-27T04:16:27.438Z,1761538587.438 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:27.688Z,1761538587.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:27.798Z,1761538587.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390368,0.920477,0.018290],[-0.919207,0.390791,-0.048377],[-0.051677,0.002073,0.998662]] 2025-10-27T04:16:27.940Z,1761538587.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:28.192Z,1761538588.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:28.199Z,1761538588.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368337,0.929525,0.017644],[-0.928081,0.368749,-0.051865],[-0.054716,0.002729,0.998498]] 2025-10-27T04:16:28.444Z,1761538588.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:28.604Z,1761538588.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348095,0.937260,0.019347],[-0.935845,0.348632,-0.051472],[-0.054987,-0.000189,0.998487]] 2025-10-27T04:16:28.696Z,1761538588.696 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:28.948Z,1761538588.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:29.006Z,1761538589.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330428,0.943671,0.017402],[-0.942361,0.330886,-0.049708],[-0.052666,0.000026,0.998612]] 2025-10-27T04:16:29.200Z,1761538589.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:29.410Z,1761538589.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314688,0.949067,0.015590],[-0.948043,0.315073,-0.044092],[-0.046759,-0.000904,0.998906]] 2025-10-27T04:16:29.452Z,1761538589.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:29.705Z,1761538589.705 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:29.814Z,1761538589.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301059,0.953485,0.015155],[-0.952847,0.301415,-0.035104],[-0.038039,-0.003872,0.999269]] 2025-10-27T04:16:29.958Z,1761538589.958 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:30.208Z,1761538590.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:30.222Z,1761538590.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290441,0.956798,0.013494],[-0.956484,0.290701,-0.025141],[-0.027977,-0.005605,0.999593]] 2025-10-27T04:16:30.460Z,1761538590.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:30.621Z,1761538590.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283051,0.959015,0.013095],[-0.958948,0.283225,-0.014239],[-0.017365,-0.008527,0.999813]] 2025-10-27T04:16:30.712Z,1761538590.712 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:30.964Z,1761538590.964 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:31.026Z,1761538591.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279608,0.960026,0.013017],[-0.960089,0.279674,-0.003505],[-0.007005,-0.011517,0.999909]] 2025-10-27T04:16:31.216Z,1761538591.216 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:31.430Z,1761538591.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279521,0.960057,0.012559],[-0.960132,0.279444,0.007532],[0.003721,-0.014164,0.999893]] 2025-10-27T04:16:31.468Z,1761538591.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:31.720Z,1761538591.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:31.835Z,1761538591.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282795,0.959121,0.010667],[-0.959068,0.282573,0.018474],[0.014704,-0.015455,0.999772]] 2025-10-27T04:16:31.974Z,1761538591.974 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:32.224Z,1761538592.224 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:32.240Z,1761538592.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288532,0.957457,0.004951],[-0.957116,0.288281,0.028701],[0.026053,-0.013020,0.999576]] 2025-10-27T04:16:32.476Z,1761538592.476 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:32.642Z,1761538592.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296100,0.955150,-0.003678],[-0.954400,0.296016,0.038665],[0.038020,-0.007938,0.999245]] 2025-10-27T04:16:32.728Z,1761538592.728 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:32.982Z,1761538592.982 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:33.232Z,1761538593.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:33.452Z,1761538593.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314717,0.948869,-0.024504],[-0.947059,0.315634,0.058770],[0.063499,0.004711,0.997971]] 2025-10-27T04:16:33.484Z,1761538593.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:33.739Z,1761538593.739 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:33.853Z,1761538593.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326524,0.944581,-0.033889],[-0.942176,0.328134,0.068068],[0.075415,0.009704,0.997105]] 2025-10-27T04:16:33.990Z,1761538593.990 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:34.240Z,1761538594.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:34.265Z,1761538594.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339577,0.939828,-0.037552],[-0.936749,0.341524,0.076566],[0.084784,0.009176,0.996357]] 2025-10-27T04:16:34.492Z,1761538594.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:34.662Z,1761538594.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354316,0.934213,-0.041313],[-0.930825,0.356574,0.080126],[0.089586,0.010065,0.995928]] 2025-10-27T04:16:34.744Z,1761538594.744 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:34.998Z,1761538594.998 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:35.065Z,1761538595.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371027,0.927544,-0.044739],[-0.924335,0.373509,0.078078],[0.089131,0.012385,0.995943]] 2025-10-27T04:16:35.248Z,1761538595.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:35.469Z,1761538595.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388810,0.920273,-0.043874],[-0.917404,0.391103,0.073536],[0.084833,0.011659,0.996327]] 2025-10-27T04:16:35.500Z,1761538595.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:35.753Z,1761538595.753 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:35.874Z,1761538595.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407877,0.911875,-0.046036],[-0.909822,0.410152,0.063240],[0.076549,0.016091,0.996936]] 2025-10-27T04:16:36.006Z,1761538596.006 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:36.256Z,1761538596.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:36.286Z,1761538596.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426580,0.903309,-0.045410],[-0.902010,0.428578,0.051956],[0.066394,0.018796,0.997616]] 2025-10-27T04:16:36.508Z,1761538596.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:36.681Z,1761538596.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442830,0.895656,-0.041245],[-0.894868,0.444367,0.041837],[0.055800,0.018382,0.998273]] 2025-10-27T04:16:36.761Z,1761538596.761 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:37.014Z,1761538597.014 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:37.086Z,1761538597.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456064,0.889162,-0.037378],[-0.888793,0.457209,0.031732],[0.045305,0.018750,0.998797]] 2025-10-27T04:16:37.264Z,1761538597.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:37.489Z,1761538597.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466799,0.883710,-0.034006],[-0.883664,0.467614,0.021810],[0.035175,0.019869,0.999184]] 2025-10-27T04:16:37.516Z,1761538597.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:37.768Z,1761538597.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:37.894Z,1761538597.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474320,0.879821,-0.030578],[-0.879965,0.474855,0.013176],[0.026113,0.020658,0.999445]] 2025-10-27T04:16:38.022Z,1761538598.022 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:38.273Z,1761538598.273 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:38.298Z,1761538598.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478073,0.877917,-0.026594],[-0.878139,0.478370,0.005820],[0.017832,0.020571,0.999629]] 2025-10-27T04:16:38.524Z,1761538598.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:38.706Z,1761538598.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477543,0.878327,-0.022242],[-0.878551,0.477649,-0.000640],[0.010062,0.019846,0.999752]] 2025-10-27T04:16:38.776Z,1761538598.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:39.030Z,1761538599.030 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:39.111Z,1761538599.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472174,0.881360,-0.016020],[-0.881503,0.472141,-0.005971],[0.002301,0.016941,0.999854]] 2025-10-27T04:16:39.280Z,1761538599.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:39.512Z,1761538599.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462330,0.886675,-0.007660],[-0.886687,0.462243,-0.010818],[-0.006051,0.011793,0.999912]] 2025-10-27T04:16:39.532Z,1761538599.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:39.784Z,1761538599.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:39.913Z,1761538599.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448550,0.893754,0.002494],[-0.893621,0.448529,-0.016204],[-0.015601,0.005040,0.999866]] 2025-10-27T04:16:40.036Z,1761538600.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:40.288Z,1761538600.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:40.317Z,1761538600.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430905,0.902327,0.011235],[-0.901996,0.431051,-0.024467],[-0.026920,0.000409,0.999638]] 2025-10-27T04:16:40.540Z,1761538600.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:40.728Z,1761538600.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410242,0.911760,0.019883],[-0.911127,0.410703,-0.034206],[-0.039353,-0.004084,0.999217]] 2025-10-27T04:16:40.792Z,1761538600.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:41.046Z,1761538601.046 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:41.125Z,1761538601.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388072,0.921226,0.027237],[-0.920142,0.388955,-0.045313],[-0.052337,-0.007477,0.998601]] 2025-10-27T04:16:41.296Z,1761538601.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:41.529Z,1761538601.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364895,0.930559,0.030204],[-0.928764,0.366079,-0.058165],[-0.065183,-0.006828,0.997850]] 2025-10-27T04:16:41.552Z,1761538601.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:41.804Z,1761538601.804 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:41.934Z,1761538601.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343631,0.938599,0.030805],[-0.936015,0.344975,-0.069770],[-0.076112,-0.004859,0.997087]] 2025-10-27T04:16:42.057Z,1761538602.057 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:42.308Z,1761538602.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:42.340Z,1761538602.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324325,0.945318,0.034459],[-0.942396,0.326046,-0.074724],[-0.081873,-0.008239,0.996609]] 2025-10-27T04:16:42.560Z,1761538602.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:42.745Z,1761538602.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307813,0.950964,0.030298],[-0.947878,0.309258,-0.076720],[-0.082328,-0.005103,0.996592]] 2025-10-27T04:16:42.812Z,1761538602.812 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:43.064Z,1761538603.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:43.152Z,1761538603.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292832,0.955790,0.026751],[-0.953220,0.294009,-0.070212],[-0.074973,-0.004940,0.997173]] 2025-10-27T04:16:43.317Z,1761538603.317 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:43.550Z,1761538603.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280091,0.959730,0.021628],[-0.957994,0.280889,-0.057869],[-0.061613,-0.004511,0.998090]] 2025-10-27T04:16:43.568Z,1761538603.568 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:43.820Z,1761538603.820 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:43.955Z,1761538603.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270214,0.962686,0.014875],[-0.961753,0.270608,-0.042447],[-0.044888,-0.002836,0.998988]] 2025-10-27T04:16:44.072Z,1761538604.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:44.324Z,1761538604.324 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:44.361Z,1761538604.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262452,0.964889,0.010363],[-0.964583,0.262632,-0.024566],[-0.026425,-0.003548,0.999644]] 2025-10-27T04:16:44.576Z,1761538604.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:44.770Z,1761538604.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257176,0.966338,0.007136],[-0.966331,0.257221,-0.006488],[-0.008105,-0.005227,0.999954]] 2025-10-27T04:16:44.828Z,1761538604.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:45.080Z,1761538605.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:45.180Z,1761538605.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254460,0.967069,0.005310],[-0.967027,0.254383,0.012194],[0.010442,-0.008238,0.999912]] 2025-10-27T04:16:45.332Z,1761538605.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:45.574Z,1761538605.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254049,0.967190,0.001597],[-0.966754,0.253884,0.030501],[0.029095,-0.009293,0.999533]] 2025-10-27T04:16:45.584Z,1761538605.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:45.836Z,1761538605.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:46.089Z,1761538606.089 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:46.340Z,1761538606.340 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:46.377Z,1761538606.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258561,0.965818,-0.018493],[-0.963787,0.259216,0.062624],[0.065278,0.001631,0.997866]] 2025-10-27T04:16:46.596Z,1761538606.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:46.784Z,1761538606.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263069,0.964359,-0.028392],[-0.961414,0.264494,0.075669],[0.080481,0.007390,0.996729]] 2025-10-27T04:16:46.844Z,1761538606.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:47.096Z,1761538607.096 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:47.209Z,1761538607.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269972,0.962373,-0.030887],[-0.958498,0.271661,0.086504],[0.091640,0.006252,0.995773]] 2025-10-27T04:16:47.348Z,1761538607.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:47.598Z,1761538607.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280001,0.959258,-0.037740],[-0.955110,0.282322,0.089774],[0.096771,0.010909,0.995247]] 2025-10-27T04:16:47.600Z,1761538607.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:47.852Z,1761538607.852 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:47.994Z,1761538607.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293851,0.955068,-0.038700],[-0.950960,0.296198,0.089121],[0.096579,0.010614,0.995269]] 2025-10-27T04:16:48.107Z,1761538608.107 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:48.360Z,1761538608.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:48.398Z,1761538608.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311462,0.949510,-0.037726],[-0.945832,0.313594,0.084026],[0.091614,0.009512,0.995749]] 2025-10-27T04:16:48.612Z,1761538608.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:48.801Z,1761538608.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332707,0.942241,-0.038585],[-0.939385,0.334737,0.074212],[0.082841,0.011555,0.996496]] 2025-10-27T04:16:48.864Z,1761538608.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:49.116Z,1761538609.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:49.232Z,1761538609.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355705,0.933989,-0.033737],[-0.931757,0.357205,0.065067],[0.072823,0.008290,0.997310]] 2025-10-27T04:16:49.368Z,1761538609.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:49.609Z,1761538609.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378949,0.925066,-0.025491],[-0.923278,0.379802,0.057524],[0.062895,0.001737,0.998019]] 2025-10-27T04:16:49.624Z,1761538609.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:49.876Z,1761538609.876 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:50.014Z,1761538610.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401847,0.915551,-0.016901],[-0.914169,0.402173,0.050517],[0.053048,-0.004850,0.998580]] 2025-10-27T04:16:50.128Z,1761538610.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:50.380Z,1761538610.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:50.418Z,1761538610.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423421,0.905830,-0.013674],[-0.904920,0.423613,0.040882],[0.042824,-0.004936,0.999070]] 2025-10-27T04:16:50.632Z,1761538610.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:50.824Z,1761538610.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443870,0.896004,-0.012467],[-0.895492,0.444039,0.030375],[0.032752,-0.002319,0.999461]] 2025-10-27T04:16:50.884Z,1761538610.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:51.136Z,1761538611.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:51.263Z,1761538611.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462261,0.886676,-0.010949],[-0.886442,0.462390,0.020389],[0.023141,0.000280,0.999732]] 2025-10-27T04:16:51.388Z,1761538611.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:51.629Z,1761538611.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477518,0.878564,-0.010084],[-0.878507,0.477610,0.010665],[0.014186,0.003767,0.999892]] 2025-10-27T04:16:51.640Z,1761538611.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:51.892Z,1761538611.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:52.034Z,1761538612.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488770,0.872353,-0.010242],[-0.872392,0.488805,0.001100],[0.005965,0.008397,0.999947]] 2025-10-27T04:16:52.144Z,1761538612.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:52.396Z,1761538612.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:52.437Z,1761538612.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495478,0.868571,-0.009314],[-0.868619,0.495431,-0.006954],[-0.001426,0.011536,0.999932]] 2025-10-27T04:16:52.648Z,1761538612.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:52.842Z,1761538612.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497252,0.867587,-0.005700],[-0.867570,0.497160,-0.012421],[-0.007942,0.011121,0.999907]] 2025-10-27T04:16:52.901Z,1761538612.901 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:53.152Z,1761538613.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:53.290Z,1761538613.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494164,0.869369,-0.000248],[-0.869258,0.494097,-0.016082],[-0.013858,0.008163,0.999871]] 2025-10-27T04:16:53.404Z,1761538613.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:53.649Z,1761538613.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487451,0.873138,0.004724],[-0.872920,0.487440,-0.020341],[-0.020064,0.005791,0.999782]] 2025-10-27T04:16:53.656Z,1761538613.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:53.908Z,1761538613.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:54.054Z,1761538614.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477238,0.878711,0.010533],[-0.878363,0.477348,-0.024836],[-0.026852,0.002601,0.999636]] 2025-10-27T04:16:54.162Z,1761538614.162 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:54.412Z,1761538614.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:54.457Z,1761538614.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463554,0.885911,0.016713],[-0.885404,0.463854,-0.029985],[-0.034317,-0.000898,0.999411]] 2025-10-27T04:16:54.510Z,1761538614.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:16:54.664Z,1761538614.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:54.862Z,1761538614.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447059,0.894244,0.021591],[-0.893510,0.447570,-0.036344],[-0.042163,-0.003044,0.999106]] 2025-10-27T04:16:54.916Z,1761538614.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:55.168Z,1761538615.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:55.308Z,1761538615.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427770,0.903534,0.025302],[-0.902515,0.428495,-0.043122],[-0.049804,-0.004389,0.998749]] 2025-10-27T04:16:55.424Z,1761538615.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:55.670Z,1761538615.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408117,0.912591,0.024854],[-0.911149,0.408869,-0.051320],[-0.056996,-0.001701,0.998373]] 2025-10-27T04:16:55.676Z,1761538615.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:55.928Z,1761538615.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:56.074Z,1761538616.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388766,0.921011,0.024509],[-0.919240,0.389537,-0.057089],[-0.062127,-0.000335,0.998068]] 2025-10-27T04:16:56.180Z,1761538616.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:56.432Z,1761538616.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:56.478Z,1761538616.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370529,0.928450,0.026240],[-0.926641,0.371447,-0.058006],[-0.063602,-0.002823,0.997971]] 2025-10-27T04:16:56.684Z,1761538616.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:56.883Z,1761538616.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354618,0.934702,0.024065],[-0.933013,0.355425,-0.056219],[-0.061101,-0.002517,0.998128]] 2025-10-27T04:16:56.936Z,1761538616.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:57.188Z,1761538617.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:57.312Z,1761538617.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340877,0.939870,0.021163],[-0.938560,0.341521,-0.049679],[-0.053919,-0.002929,0.998541]] 2025-10-27T04:16:57.440Z,1761538617.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:57.692Z,1761538617.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:57.693Z,1761538617.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329673,0.943923,0.018048],[-0.943119,0.330141,-0.039153],[-0.042916,-0.004114,0.999070]] 2025-10-27T04:16:57.944Z,1761538617.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:58.094Z,1761538618.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320773,0.947069,0.012852],[-0.946688,0.321012,-0.027084],[-0.029776,-0.003479,0.999551]] 2025-10-27T04:16:58.196Z,1761538618.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:58.448Z,1761538618.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:58.497Z,1761538618.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314365,0.949251,0.009843],[-0.949176,0.314475,-0.013081],[-0.015513,-0.005231,0.999866]] 2025-10-27T04:16:58.701Z,1761538618.701 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:58.902Z,1761538618.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310607,0.950486,0.010013],[-0.950538,0.310597,0.002545],[-0.000691,-0.010308,0.999947]] 2025-10-27T04:16:58.952Z,1761538618.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:59.204Z,1761538619.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:59.456Z,1761538619.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:59.708Z,1761538619.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:16:59.730Z,1761538619.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311499,0.950231,0.005420],[-0.949810,0.311178,0.032095],[0.028811,-0.015145,0.999470]] 2025-10-27T04:16:59.960Z,1761538619.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:00.113Z,1761538620.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315258,0.949002,-0.002827],[-0.948026,0.315066,0.044487],[0.043109,-0.011345,0.999006]] 2025-10-27T04:17:00.213Z,1761538620.213 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:00.464Z,1761538620.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:00.518Z,1761538620.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321975,0.946635,-0.014619],[-0.945061,0.322284,0.054713],[0.056505,-0.003801,0.998395]] 2025-10-27T04:17:00.716Z,1761538620.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:00.922Z,1761538620.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331461,0.943113,-0.025909],[-0.941025,0.332453,0.062819],[0.067859,0.003559,0.997689]] 2025-10-27T04:17:00.969Z,1761538620.969 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:01.220Z,1761538621.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:01.333Z,1761538621.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342812,0.938983,-0.028109],[-0.936269,0.343957,0.071373],[0.076686,0.001850,0.997054]] 2025-10-27T04:17:01.472Z,1761538621.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:01.724Z,1761538621.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:01.741Z,1761538621.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356001,0.933913,-0.032695],[-0.931042,0.357473,0.073301],[0.080144,0.004345,0.996774]] 2025-10-27T04:17:01.976Z,1761538621.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:02.134Z,1761538622.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371958,0.927593,-0.034907],[-0.924971,0.373540,0.069979],[0.077951,0.006259,0.996938]] 2025-10-27T04:17:02.231Z,1761538622.231 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:02.480Z,1761538622.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:02.540Z,1761538622.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389017,0.920653,-0.032618],[-0.918477,0.390346,0.063486],[0.071180,0.005262,0.997450]] 2025-10-27T04:17:02.734Z,1761538622.734 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:02.943Z,1761538622.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406592,0.913093,-0.030710],[-0.911575,0.407700,0.053029],[0.060941,0.006433,0.998121]] 2025-10-27T04:17:02.985Z,1761538622.985 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:03.236Z,1761538623.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:03.488Z,1761538623.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:03.743Z,1761538623.743 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:03.760Z,1761538623.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439485,0.898176,-0.011545],[-0.897421,0.439595,0.037305],[0.038582,-0.006034,0.999237]] 2025-10-27T04:17:03.996Z,1761538623.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:04.154Z,1761538624.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453296,0.891343,-0.005592],[-0.890973,0.453275,0.026630],[0.026271,-0.007089,0.999630]] 2025-10-27T04:17:04.249Z,1761538624.249 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:04.500Z,1761538624.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:04.559Z,1761538624.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466569,0.884480,-0.002917],[-0.884387,0.466564,0.013303],[0.013127,-0.003627,0.999907]] 2025-10-27T04:17:04.752Z,1761538624.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:04.962Z,1761538624.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478041,0.878332,-0.002911],[-0.878337,0.478037,-0.002107],[-0.000459,0.003564,0.999994]] 2025-10-27T04:17:05.004Z,1761538625.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:05.256Z,1761538625.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:05.365Z,1761538625.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487200,0.873288,-0.002113],[-0.873185,0.487102,-0.016739],[-0.013588,0.010000,0.999858]] 2025-10-27T04:17:05.508Z,1761538625.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:05.760Z,1761538625.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:05.780Z,1761538625.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498469,0.866884,0.006327],[-0.866213,0.498349,-0.036392],[-0.034701,0.012660,0.999318]] 2025-10-27T04:17:06.012Z,1761538626.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:06.181Z,1761538626.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498828,0.866645,0.009792],[-0.865766,0.498783,-0.040801],[-0.040244,0.011875,0.999119]] 2025-10-27T04:17:06.264Z,1761538626.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:06.516Z,1761538626.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:06.586Z,1761538626.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495353,0.868613,0.011688],[-0.867704,0.495386,-0.041019],[-0.041419,0.010177,0.999090]] 2025-10-27T04:17:06.768Z,1761538626.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:06.987Z,1761538626.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490021,0.871659,0.009475],[-0.870798,0.489977,-0.040412],[-0.039868,0.011552,0.999138]] 2025-10-27T04:17:07.020Z,1761538627.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:07.272Z,1761538627.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:07.389Z,1761538627.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481358,0.876478,0.008993],[-0.875815,0.481356,-0.035283],[-0.035254,0.009108,0.999337]] 2025-10-27T04:17:07.524Z,1761538627.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:07.776Z,1761538627.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:07.803Z,1761538627.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469977,0.882641,0.008211],[-0.882199,0.470008,-0.028600],[-0.029103,0.006198,0.999557]] 2025-10-27T04:17:08.028Z,1761538628.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:08.194Z,1761538628.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456468,0.889708,0.007581],[-0.889463,0.456522,-0.021053],[-0.022192,0.002867,0.999750]] 2025-10-27T04:17:08.280Z,1761538628.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:08.532Z,1761538628.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:08.598Z,1761538628.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441844,0.897060,0.007582],[-0.896971,0.441907,-0.012653],[-0.014701,-0.001211,0.999891]] 2025-10-27T04:17:08.784Z,1761538628.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:09.002Z,1761538629.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426685,0.904386,0.005165],[-0.904374,0.426709,-0.005211],[-0.006917,-0.002448,0.999973]] 2025-10-27T04:17:09.036Z,1761538629.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:09.288Z,1761538629.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:09.408Z,1761538629.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411960,0.911201,0.001559],[-0.911201,0.411956,0.002174],[0.001338,-0.002316,0.999996]] 2025-10-27T04:17:09.540Z,1761538629.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:09.792Z,1761538629.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:09.814Z,1761538629.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397555,0.917571,-0.003635],[-0.917522,0.397572,0.009522],[0.010182,-0.000450,0.999948]] 2025-10-27T04:17:10.044Z,1761538630.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:10.214Z,1761538630.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384254,0.923186,-0.008730],[-0.923022,0.384350,0.017485],[0.019498,0.001339,0.999809]] 2025-10-27T04:17:10.296Z,1761538630.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:10.550Z,1761538630.550 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:10.618Z,1761538630.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372101,0.928101,-0.013018],[-0.927729,0.372322,0.026386],[0.029336,0.002259,0.999567]] 2025-10-27T04:17:10.800Z,1761538630.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:11.025Z,1761538631.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361411,0.932217,-0.018810],[-0.931639,0.361858,0.033285],[0.037835,0.005495,0.999269]] 2025-10-27T04:17:11.052Z,1761538631.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:11.304Z,1761538631.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:11.426Z,1761538631.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352113,0.935685,-0.022587],[-0.934920,0.352757,0.038563],[0.044051,0.007539,0.999001]] 2025-10-27T04:17:11.558Z,1761538631.558 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:11.808Z,1761538631.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:11.833Z,1761538631.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344347,0.938593,-0.021656],[-0.937659,0.344979,0.042242],[0.047118,0.005760,0.998873]] 2025-10-27T04:17:12.060Z,1761538632.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:12.241Z,1761538632.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339127,0.940500,-0.021271],[-0.939643,0.339737,0.040623],[0.045432,0.006211,0.998948]] 2025-10-27T04:17:12.312Z,1761538632.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:12.566Z,1761538632.566 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:12.639Z,1761538632.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335865,0.941750,-0.017385],[-0.941043,0.336290,0.036705],[0.040413,0.004032,0.999175]] 2025-10-27T04:17:12.816Z,1761538632.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:13.068Z,1761538633.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:13.320Z,1761538633.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:13.446Z,1761538633.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335619,0.941996,-0.001560],[-0.941669,0.335545,0.025858],[0.024881,-0.007209,0.999664]] 2025-10-27T04:17:13.574Z,1761538633.574 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:13.824Z,1761538633.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:13.850Z,1761538633.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335612,0.941961,0.008662],[-0.941857,0.335386,0.020529],[0.016433,-0.015048,0.999752]] 2025-10-27T04:17:14.076Z,1761538634.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:14.257Z,1761538634.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337439,0.941279,0.011362],[-0.941327,0.337327,0.010657],[0.006198,-0.014291,0.999879]] 2025-10-27T04:17:14.328Z,1761538634.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:14.583Z,1761538634.583 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:14.658Z,1761538634.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340548,0.940148,0.012227],[-0.940215,0.340580,-0.000625],[-0.004752,-0.011283,0.999925]] 2025-10-27T04:17:14.832Z,1761538634.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:15.061Z,1761538635.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343716,0.939004,0.011481],[-0.938940,0.343847,-0.012682],[-0.015856,-0.006421,0.999854]] 2025-10-27T04:17:15.084Z,1761538635.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:15.336Z,1761538635.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:15.465Z,1761538635.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347008,0.937817,0.009174],[-0.937490,0.347129,-0.024789],[-0.026432,0.000001,0.999651]] 2025-10-27T04:17:15.590Z,1761538635.590 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:15.840Z,1761538635.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:15.880Z,1761538635.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350955,0.936288,0.013957],[-0.935758,0.351227,-0.031584],[-0.034474,-0.001976,0.999404]] 2025-10-27T04:17:16.092Z,1761538636.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:16.273Z,1761538636.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354135,0.935064,0.015589],[-0.934384,0.354473,-0.035710],[-0.038917,-0.001920,0.999241]] 2025-10-27T04:17:16.344Z,1761538636.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:16.598Z,1761538636.598 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:16.677Z,1761538636.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356502,0.934170,0.015253],[-0.933511,0.356824,-0.035122],[-0.038253,-0.001718,0.999267]] 2025-10-27T04:17:16.848Z,1761538636.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:17.083Z,1761538637.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358640,0.933394,0.012361],[-0.932888,0.358853,-0.030726],[-0.033115,-0.000512,0.999451]] 2025-10-27T04:17:17.100Z,1761538637.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:17.352Z,1761538637.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:17.487Z,1761538637.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359981,0.932923,0.008320],[-0.932656,0.360077,-0.022292],[-0.023793,0.000265,0.999717]] 2025-10-27T04:17:17.663Z,1761538637.663 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:17.856Z,1761538637.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:17.890Z,1761538637.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360847,0.932611,0.005094],[-0.932545,0.360882,-0.011126],[-0.012215,-0.000736,0.999925]] 2025-10-27T04:17:18.108Z,1761538638.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:18.294Z,1761538638.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362574,0.931949,0.003404],[-0.931955,0.362570,0.001528],[0.000190,-0.003727,0.999993]] 2025-10-27T04:17:18.360Z,1761538638.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:18.614Z,1761538638.614 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:18.705Z,1761538638.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364244,0.931301,0.001989],[-0.931213,0.364178,0.014734],[0.012997,-0.007219,0.999889]] 2025-10-27T04:17:18.864Z,1761538638.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:19.101Z,1761538639.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367307,0.930095,-0.002922],[-0.929748,0.367253,0.026347],[0.025578,-0.006961,0.999649]] 2025-10-27T04:17:19.116Z,1761538639.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:19.368Z,1761538639.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:19.506Z,1761538639.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371424,0.928378,-0.012605],[-0.927683,0.371634,0.035950],[0.038060,-0.001660,0.999274]] 2025-10-27T04:17:19.622Z,1761538639.622 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:19.872Z,1761538639.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:19.909Z,1761538639.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376508,0.926098,-0.024162],[-0.925041,0.377241,0.044583],[0.050403,0.005565,0.998713]] 2025-10-27T04:17:20.124Z,1761538640.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:20.314Z,1761538640.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382965,0.923084,-0.035406],[-0.921717,0.384385,0.051819],[0.061443,0.012790,0.998029]] 2025-10-27T04:17:20.376Z,1761538640.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:20.630Z,1761538640.630 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:20.741Z,1761538640.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389383,0.920334,-0.036957],[-0.918306,0.391009,0.061852],[0.071375,0.009854,0.997401]] 2025-10-27T04:17:20.880Z,1761538640.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:21.121Z,1761538641.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397635,0.916663,-0.040182],[-0.914368,0.399519,0.065690],[0.076269,0.010620,0.997031]] 2025-10-27T04:17:21.132Z,1761538641.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:21.387Z,1761538641.387 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:21.525Z,1761538641.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408354,0.911794,-0.043338],[-0.909698,0.410422,0.063273],[0.075479,0.013587,0.997055]] 2025-10-27T04:17:21.636Z,1761538641.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:21.888Z,1761538641.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:21.934Z,1761538641.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420726,0.906315,-0.039777],[-0.904465,0.422454,0.058947],[0.070229,0.011176,0.997468]] 2025-10-27T04:17:22.140Z,1761538642.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:22.335Z,1761538642.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434453,0.899891,-0.038036],[-0.898643,0.435925,0.049093],[0.060759,0.012852,0.998070]] 2025-10-27T04:17:22.394Z,1761538642.394 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:22.648Z,1761538642.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:22.759Z,1761538642.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448962,0.892927,-0.033386],[-0.892186,0.450027,0.038471],[0.049376,0.012515,0.998702]] 2025-10-27T04:17:22.900Z,1761538642.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:23.152Z,1761538643.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:23.404Z,1761538643.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:23.547Z,1761538643.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475861,0.879455,-0.010694],[-0.879097,0.475974,0.025232],[0.027281,-0.002606,0.999624]] 2025-10-27T04:17:23.658Z,1761538643.658 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:23.908Z,1761538643.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:23.953Z,1761538643.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486746,0.873542,-0.001813],[-0.873387,0.486697,0.017914],[0.016531,-0.007136,0.999838]] 2025-10-27T04:17:24.160Z,1761538644.160 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:24.354Z,1761538644.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496838,0.867843,-0.000644],[-0.867830,0.496835,0.005041],[0.004695,-0.001946,0.999987]] 2025-10-27T04:17:24.412Z,1761538644.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:24.664Z,1761538644.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:24.774Z,1761538644.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504818,0.863224,0.001590],[-0.863197,0.504815,-0.007312],[-0.007114,0.002319,0.999972]] 2025-10-27T04:17:24.916Z,1761538644.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:25.161Z,1761538645.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509737,0.860308,0.006156],[-0.860132,0.509760,-0.017815],[-0.018464,0.003786,0.999822]] 2025-10-27T04:17:25.168Z,1761538645.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:25.420Z,1761538645.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:25.565Z,1761538645.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511202,0.859422,0.008103],[-0.858940,0.511198,-0.029992],[-0.029918,0.008372,0.999517]] 2025-10-27T04:17:25.675Z,1761538645.675 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:25.928Z,1761538645.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:25.969Z,1761538645.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510024,0.860104,0.009821],[-0.859181,0.509955,-0.041881],[-0.041031,0.012922,0.999074]] 2025-10-27T04:17:26.180Z,1761538646.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:26.373Z,1761538646.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505411,0.862706,0.017269],[-0.861455,0.505625,-0.047309],[-0.049546,0.009034,0.998731]] 2025-10-27T04:17:26.432Z,1761538646.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:26.684Z,1761538646.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:26.808Z,1761538646.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497814,0.867053,0.019990],[-0.865499,0.498136,-0.052653],[-0.055611,0.008910,0.998413]] 2025-10-27T04:17:26.936Z,1761538646.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:27.183Z,1761538647.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487565,0.872852,0.020260],[-0.871175,0.487901,-0.054839],[-0.057752,0.009088,0.998290]] 2025-10-27T04:17:27.188Z,1761538647.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:27.440Z,1761538647.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:27.586Z,1761538647.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474794,0.879878,0.019643],[-0.878325,0.475135,-0.052840],[-0.055826,0.007835,0.998410]] 2025-10-27T04:17:27.692Z,1761538647.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:27.944Z,1761538647.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:28.022Z,1761538648.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459335,0.888106,0.016707],[-0.886825,0.459580,-0.048237],[-0.050518,0.007341,0.998696]] 2025-10-27T04:17:28.196Z,1761538648.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:28.396Z,1761538648.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442108,0.896861,0.013450],[-0.895944,0.442271,-0.040999],[-0.042719,0.006076,0.999069]] 2025-10-27T04:17:28.449Z,1761538648.449 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:28.700Z,1761538648.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:28.830Z,1761538648.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424195,0.905531,0.008473],[-0.904930,0.424228,-0.033652],[-0.034067,0.006608,0.999398]] 2025-10-27T04:17:28.952Z,1761538648.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:29.205Z,1761538649.205 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:29.208Z,1761538649.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406259,0.913741,0.005656],[-0.913423,0.406269,-0.024554],[-0.024734,0.004809,0.999682]] 2025-10-27T04:17:29.456Z,1761538649.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:29.619Z,1761538649.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389057,0.921206,0.003919],[-0.921092,0.389071,-0.014623],[-0.014995,0.002080,0.999885]] 2025-10-27T04:17:29.708Z,1761538649.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:29.960Z,1761538649.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:30.009Z,1761538650.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373116,0.927779,0.003131],[-0.927773,0.373126,-0.003842],[-0.004732,-0.001471,0.999988]] 2025-10-27T04:17:30.212Z,1761538650.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:30.414Z,1761538650.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358758,0.933427,0.002548],[-0.933409,0.358729,0.007858],[0.006421,-0.005198,0.999966]] 2025-10-27T04:17:30.464Z,1761538650.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:30.717Z,1761538650.717 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:30.860Z,1761538650.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346514,0.938045,0.000265],[-0.937865,0.346442,0.019648],[0.018339,-0.007057,0.999807]] 2025-10-27T04:17:30.968Z,1761538650.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:31.220Z,1761538651.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:31.233Z,1761538651.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336797,0.941567,-0.004409],[-0.941079,0.336768,0.030936],[0.030613,-0.006270,0.999512]] 2025-10-27T04:17:31.472Z,1761538651.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:31.626Z,1761538651.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329124,0.944227,-0.010648],[-0.943292,0.329274,0.042172],[0.043326,-0.003836,0.999054]] 2025-10-27T04:17:31.725Z,1761538651.725 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:31.976Z,1761538651.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:32.029Z,1761538652.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324235,0.945763,-0.020107],[-0.944368,0.324849,0.051398],[0.055142,0.002323,0.998476]] 2025-10-27T04:17:32.229Z,1761538652.229 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:32.433Z,1761538652.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321930,0.946384,-0.026806],[-0.944513,0.322987,0.059783],[0.065235,0.006073,0.997851]] 2025-10-27T04:17:32.480Z,1761538652.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:32.732Z,1761538652.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:32.889Z,1761538652.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322025,0.946368,-0.026228],[-0.943982,0.323076,0.067235],[0.072103,0.003108,0.997392]] 2025-10-27T04:17:32.984Z,1761538652.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:33.236Z,1761538653.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:33.244Z,1761538653.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325353,0.945137,-0.029365],[-0.942726,0.326627,0.067696],[0.073573,0.005658,0.997274]] 2025-10-27T04:17:33.488Z,1761538653.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:33.645Z,1761538653.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332133,0.942788,-0.028944],[-0.940580,0.333343,0.064745],[0.070689,0.005720,0.997482]] 2025-10-27T04:17:33.740Z,1761538653.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:33.992Z,1761538653.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:34.050Z,1761538654.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341559,0.939469,-0.027118],[-0.937666,0.342590,0.058430],[0.064184,0.005470,0.997923]] 2025-10-27T04:17:34.244Z,1761538654.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:34.454Z,1761538654.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353680,0.935029,-0.025112],[-0.933738,0.354521,0.049478],[0.055166,0.005949,0.998459]] 2025-10-27T04:17:34.496Z,1761538654.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:34.748Z,1761538654.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:34.877Z,1761538654.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367232,0.929958,-0.017871],[-0.929012,0.367664,0.041947],[0.045579,0.001198,0.998960]] 2025-10-27T04:17:35.008Z,1761538655.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:35.252Z,1761538655.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:35.264Z,1761538655.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381015,0.924545,-0.006677],[-0.923869,0.380998,0.036165],[0.035980,-0.007611,0.999323]] 2025-10-27T04:17:35.504Z,1761538655.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:35.667Z,1761538655.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394314,0.918976,0.000738],[-0.918615,0.394136,0.028340],[0.025752,-0.011853,0.999598]] 2025-10-27T04:17:35.756Z,1761538655.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:36.008Z,1761538656.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:36.070Z,1761538656.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408559,0.912725,0.003553],[-0.912622,0.408446,0.017084],[0.014142,-0.010223,0.999848]] 2025-10-27T04:17:36.260Z,1761538656.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:36.474Z,1761538656.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422745,0.906228,0.006173],[-0.906247,0.422720,0.005006],[0.001927,-0.007710,0.999968]] 2025-10-27T04:17:36.512Z,1761538656.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:36.764Z,1761538656.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:36.885Z,1761538656.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435247,0.900279,0.007563],[-0.900252,0.435299,-0.007782],[-0.010298,-0.003421,0.999941]] 2025-10-27T04:17:37.017Z,1761538657.017 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:37.268Z,1761538657.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:37.285Z,1761538657.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446099,0.894962,0.006175],[-0.894694,0.446119,-0.022386],[-0.022789,0.004462,0.999730]] 2025-10-27T04:17:37.520Z,1761538657.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:37.686Z,1761538657.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454532,0.890707,0.006460],[-0.890074,0.454463,-0.035085],[-0.034186,0.010198,0.999363]] 2025-10-27T04:17:37.772Z,1761538657.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:38.024Z,1761538658.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:38.089Z,1761538658.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460065,0.887783,0.013490],[-0.886893,0.460216,-0.040277],[-0.041965,0.006566,0.999098]] 2025-10-27T04:17:38.276Z,1761538658.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:38.493Z,1761538658.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463370,0.886045,0.014594],[-0.884932,0.463531,-0.045098],[-0.046723,0.007983,0.998876]] 2025-10-27T04:17:38.528Z,1761538658.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:38.780Z,1761538658.780 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:38.905Z,1761538658.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464583,0.885406,0.014802],[-0.884257,0.464747,-0.045824],[-0.047452,0.008200,0.998840]] 2025-10-27T04:17:39.032Z,1761538659.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:39.284Z,1761538659.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:39.536Z,1761538659.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:39.716Z,1761538659.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458609,0.888564,0.011491],[-0.887782,0.458696,-0.037962],[-0.039003,0.007208,0.999213]] 2025-10-27T04:17:39.792Z,1761538659.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:40.044Z,1761538660.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:40.112Z,1761538660.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451995,0.891961,0.010278],[-0.891434,0.452085,-0.031056],[-0.032348,0.004875,0.999465]] 2025-10-27T04:17:40.296Z,1761538660.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:40.513Z,1761538660.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443118,0.896422,0.008555],[-0.896116,0.443192,-0.023591],[-0.024939,0.002787,0.999685]] 2025-10-27T04:17:40.548Z,1761538660.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:40.800Z,1761538660.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:40.917Z,1761538660.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433298,0.901229,0.006175],[-0.901083,0.433340,-0.016302],[-0.017368,0.001500,0.999848]] 2025-10-27T04:17:41.052Z,1761538661.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:41.304Z,1761538661.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:41.322Z,1761538661.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422870,0.906183,0.003789],[-0.906143,0.422887,-0.008507],[-0.009311,0.000164,0.999957]] 2025-10-27T04:17:41.556Z,1761538661.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:41.732Z,1761538661.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412403,0.910999,0.001901],[-0.911001,0.412404,-0.000187],[-0.000954,-0.001654,0.999998]] 2025-10-27T04:17:41.810Z,1761538661.810 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:42.060Z,1761538662.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:42.312Z,1761538662.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:42.534Z,1761538662.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392765,0.919628,-0.004533],[-0.919472,0.392783,0.017130],[0.017533,-0.002560,0.999843]] 2025-10-27T04:17:42.567Z,1761538662.567 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:42.820Z,1761538662.820 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:42.937Z,1761538662.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384832,0.922945,-0.008786],[-0.922585,0.384928,0.025811],[0.027204,-0.001827,0.999628]] 2025-10-27T04:17:43.072Z,1761538663.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:43.324Z,1761538663.324 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:43.369Z,1761538663.369 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range. Device response is::WD, +0.00,+0.00, +0.00, 2025-10-27T04:17:43.576Z,1761538663.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:43.746Z,1761538663.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374123,0.927183,-0.019068],[-0.926287,0.374601,0.040832],[0.045002,0.002386,0.998984]] 2025-10-27T04:17:43.828Z,1761538663.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:44.080Z,1761538664.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:44.149Z,1761538664.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371350,0.928180,-0.024117],[-0.927088,0.372091,0.045341],[0.051058,0.005521,0.998680]] 2025-10-27T04:17:44.332Z,1761538664.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:44.555Z,1761538664.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370240,0.928678,-0.021880],[-0.927352,0.370881,0.049655],[0.054229,0.001907,0.998527]] 2025-10-27T04:17:44.584Z,1761538664.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:44.836Z,1761538664.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:44.958Z,1761538664.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371488,0.928163,-0.022572],[-0.926925,0.372161,0.048030],[0.052981,0.003080,0.998591]] 2025-10-27T04:17:45.088Z,1761538665.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:45.340Z,1761538665.340 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:45.361Z,1761538665.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375296,0.926669,-0.020910],[-0.925632,0.375867,0.043918],[0.048557,0.002873,0.998816]] 2025-10-27T04:17:45.592Z,1761538665.592 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:45.765Z,1761538665.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381263,0.924268,-0.019188],[-0.923521,0.381729,0.037307],[0.041806,0.003497,0.999120]] 2025-10-27T04:17:45.844Z,1761538665.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:46.096Z,1761538666.096 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:46.170Z,1761538666.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388687,0.921272,-0.013400],[-0.920720,0.388918,0.031900],[0.034600,-0.000062,0.999401]] 2025-10-27T04:17:46.348Z,1761538666.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:46.573Z,1761538666.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397088,0.917774,-0.003367],[-0.917373,0.397018,0.028353],[0.027359,-0.008170,0.999592]] 2025-10-27T04:17:46.600Z,1761538666.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:46.852Z,1761538666.852 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:46.978Z,1761538666.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404995,0.914312,0.003534],[-0.914107,0.404814,0.023108],[0.019698,-0.012590,0.999727]] 2025-10-27T04:17:47.104Z,1761538667.104 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:47.356Z,1761538667.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:47.382Z,1761538667.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414079,0.910224,0.005453],[-0.910175,0.413970,0.014508],[0.010949,-0.010971,0.999880]] 2025-10-27T04:17:47.608Z,1761538667.608 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:47.786Z,1761538667.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423345,0.905934,0.007883],[-0.905966,0.423308,0.006008],[0.002106,-0.009686,0.999951]] 2025-10-27T04:17:47.860Z,1761538667.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:48.112Z,1761538668.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:48.197Z,1761538668.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431950,0.901852,0.009125],[-0.901871,0.431992,-0.003258],[-0.006880,-0.006822,0.999953]] 2025-10-27T04:17:48.364Z,1761538668.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:48.596Z,1761538668.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439279,0.898325,0.006794],[-0.898210,0.439332,-0.014357],[-0.015882,0.000204,0.999874]] 2025-10-27T04:17:48.619Z,1761538668.619 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:48.872Z,1761538668.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:48.998Z,1761538668.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445031,0.895502,0.004752],[-0.895189,0.445006,-0.024624],[-0.024166,0.006705,0.999686]] 2025-10-27T04:17:49.125Z,1761538669.125 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:49.376Z,1761538669.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:49.403Z,1761538669.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448628,0.893684,0.007832],[-0.893224,0.448654,-0.029317],[-0.029714,0.006156,0.999539]] 2025-10-27T04:17:49.628Z,1761538669.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:49.806Z,1761538669.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450239,0.892877,0.007448],[-0.892323,0.450231,-0.032438],[-0.032316,0.007959,0.999446]] 2025-10-27T04:17:49.880Z,1761538669.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:50.132Z,1761538670.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:50.222Z,1761538670.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448774,0.893639,0.003483],[-0.893236,0.448683,-0.028516],[-0.027046,0.009687,0.999587]] 2025-10-27T04:17:50.384Z,1761538670.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:50.636Z,1761538670.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:50.888Z,1761538670.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:51.024Z,1761538671.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440591,0.897707,-0.001055],[-0.897620,0.440531,-0.014541],[-0.012589,0.007354,0.999894]] 2025-10-27T04:17:51.142Z,1761538671.142 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:51.392Z,1761538671.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:51.431Z,1761538671.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434249,0.900793,0.000005],[-0.900784,0.434244,-0.004560],[-0.004110,0.001975,0.999990]] 2025-10-27T04:17:51.644Z,1761538671.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:51.830Z,1761538671.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427075,0.904213,-0.002495],[-0.904209,0.427081,0.002858],[0.003650,0.001035,0.999993]] 2025-10-27T04:17:51.896Z,1761538671.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:52.149Z,1761538672.149 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:52.234Z,1761538672.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418845,0.908037,-0.006141],[-0.907992,0.418887,0.009240],[0.010963,0.001706,0.999938]] 2025-10-27T04:17:52.400Z,1761538672.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:52.636Z,1761538672.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409082,0.912448,-0.009528],[-0.912314,0.409186,0.015804],[0.018319,0.002227,0.999830]] 2025-10-27T04:17:52.652Z,1761538672.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:52.904Z,1761538672.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:53.044Z,1761538673.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398537,0.917062,-0.012868],[-0.916794,0.398734,0.022373],[0.025648,0.002881,0.999667]] 2025-10-27T04:17:53.159Z,1761538673.159 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:53.408Z,1761538673.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:53.442Z,1761538673.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387689,0.921647,-0.016253],[-0.921203,0.388011,0.028854],[0.032899,0.003786,0.999452]] 2025-10-27T04:17:53.660Z,1761538673.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:53.845Z,1761538673.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377204,0.925930,-0.019270],[-0.925274,0.377668,0.035144],[0.039819,0.004573,0.999196]] 2025-10-27T04:17:53.912Z,1761538673.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:54.168Z,1761538674.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:54.250Z,1761538674.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367045,0.929856,-0.025423],[-0.929081,0.367807,0.039062],[0.045673,0.009283,0.998913]] 2025-10-27T04:17:54.420Z,1761538674.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:54.656Z,1761538674.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358018,0.933222,-0.030323],[-0.932394,0.359050,0.041531],[0.049646,0.013404,0.998677]] 2025-10-27T04:17:54.672Z,1761538674.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:54.924Z,1761538674.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:55.057Z,1761538675.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349799,0.936417,-0.027649],[-0.935389,0.350745,0.045016],[0.051851,0.010116,0.998604]] 2025-10-27T04:17:55.178Z,1761538675.178 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:55.428Z,1761538675.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:55.461Z,1761538675.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341952,0.939371,-0.025503],[-0.938343,0.342793,0.044778],[0.050805,0.008618,0.998671]] 2025-10-27T04:17:55.681Z,1761538675.681 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:55.866Z,1761538675.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335365,0.941824,-0.022313],[-0.940907,0.336036,0.042110],[0.047158,0.006872,0.998864]] 2025-10-27T04:17:55.932Z,1761538675.932 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:56.186Z,1761538676.186 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:56.271Z,1761538676.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330554,0.943592,-0.019196],[-0.942893,0.331058,0.036788],[0.041068,0.005940,0.999139]] 2025-10-27T04:17:56.436Z,1761538676.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:56.678Z,1761538676.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326957,0.944943,-0.013452],[-0.944411,0.327226,0.031808],[0.034459,0.002304,0.999403]] 2025-10-27T04:17:56.689Z,1761538676.689 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:56.940Z,1761538676.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:57.077Z,1761538677.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324253,0.945959,-0.004698],[-0.945550,0.324253,0.028199],[0.028199,-0.004701,0.999591]] 2025-10-27T04:17:57.194Z,1761538677.194 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:57.444Z,1761538677.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:57.481Z,1761538677.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322279,0.946639,0.003339],[-0.946389,0.322108,0.024377],[0.022001,-0.011016,0.999697]] 2025-10-27T04:17:57.697Z,1761538677.697 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:57.898Z,1761538677.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322779,0.946442,0.007858],[-0.946349,0.322591,0.018924],[0.015376,-0.013545,0.999790]] 2025-10-27T04:17:57.948Z,1761538677.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:58.202Z,1761538678.202 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:58.289Z,1761538678.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325632,0.945443,0.010096],[-0.945457,0.325503,0.012582],[0.008609,-0.013643,0.999870]] 2025-10-27T04:17:58.452Z,1761538678.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:58.705Z,1761538678.705 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:58.708Z,1761538678.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329474,0.944082,0.012518],[-0.944162,0.329416,0.006543],[0.002054,-0.013975,0.999900]] 2025-10-27T04:17:58.956Z,1761538678.956 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:59.100Z,1761538679.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334060,0.942437,0.014671],[-0.942542,0.334087,0.000646],[-0.004293,-0.014044,0.999892]] 2025-10-27T04:17:59.208Z,1761538679.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:59.460Z,1761538679.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:59.502Z,1761538679.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339461,0.940500,0.015031],[-0.940561,0.339576,-0.005821],[-0.010579,-0.012162,0.999870]] 2025-10-27T04:17:59.715Z,1761538679.715 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:17:59.906Z,1761538679.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344973,0.938473,0.016186],[-0.938471,0.345169,-0.011375],[-0.016262,-0.011266,0.999804]] 2025-10-27T04:17:59.968Z,1761538679.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:00.222Z,1761538680.222 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:00.309Z,1761538680.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349914,0.936630,0.016861],[-0.936543,0.350175,-0.016277],[-0.021150,-0.010095,0.999725]] 2025-10-27T04:18:00.472Z,1761538680.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:00.724Z,1761538680.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:00.735Z,1761538680.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354802,0.934827,0.014616],[-0.934593,0.355053,-0.021764],[-0.025535,-0.005938,0.999656]] 2025-10-27T04:18:00.976Z,1761538680.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:01.117Z,1761538681.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359770,0.932965,0.011890],[-0.932584,0.359963,-0.026722],[-0.029210,-0.001475,0.999572]] 2025-10-27T04:18:01.229Z,1761538681.229 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:01.480Z,1761538681.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:01.521Z,1761538681.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364203,0.931255,0.010955],[-0.930786,0.364367,-0.029574],[-0.031533,0.000574,0.999503]] 2025-10-27T04:18:01.732Z,1761538681.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:01.933Z,1761538681.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368097,0.929729,0.010448],[-0.929214,0.368241,-0.030992],[-0.032662,0.001700,0.999465]] 2025-10-27T04:18:01.984Z,1761538681.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:02.236Z,1761538682.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:02.329Z,1761538682.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371399,0.928426,0.009412],[-0.927909,0.371507,-0.031112],[-0.032382,0.002822,0.999472]] 2025-10-27T04:18:02.488Z,1761538682.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:02.738Z,1761538682.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373908,0.927431,0.008053],[-0.926953,0.373976,-0.029994],[-0.030829,0.003751,0.999518]] 2025-10-27T04:18:02.740Z,1761538682.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:02.992Z,1761538682.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:03.138Z,1761538683.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375028,0.926997,0.005554],[-0.926589,0.375031,-0.028016],[-0.028054,0.005361,0.999592]] 2025-10-27T04:18:03.244Z,1761538683.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:03.496Z,1761538683.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:03.541Z,1761538683.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374224,0.927336,0.002036],[-0.927023,0.374153,-0.025258],[-0.024185,0.007565,0.999679]] 2025-10-27T04:18:03.748Z,1761538683.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:03.945Z,1761538683.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371546,0.928414,-0.000576],[-0.928210,0.371451,-0.021242],[-0.019507,0.008427,0.999774]] 2025-10-27T04:18:03.000Z,1761538684.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:04.252Z,1761538684.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:04.351Z,1761538684.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367276,0.930106,-0.003238],[-0.929999,0.367175,-0.016864],[-0.014497,0.009205,0.999853]] 2025-10-27T04:18:04.504Z,1761538684.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:04.756Z,1761538684.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:05.008Z,1761538685.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:05.158Z,1761538685.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354287,0.935113,-0.006683],[-0.935129,0.354245,-0.006689],[-0.003887,0.008619,0.999955]] 2025-10-27T04:18:05.260Z,1761538685.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:05.512Z,1761538685.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:05.562Z,1761538685.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345997,0.938203,-0.007862],[-0.938235,0.345997,-0.001359],[0.001445,0.007846,0.999968]] 2025-10-27T04:18:05.764Z,1761538685.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:05.966Z,1761538685.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336459,0.941667,-0.007628],[-0.941673,0.336498,0.004552],[0.006853,0.005652,0.999961]] 2025-10-27T04:18:06.016Z,1761538686.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:06.268Z,1761538686.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:06.380Z,1761538686.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326163,0.945280,-0.007951],[-0.945238,0.326232,0.009894],[0.011947,0.004289,0.999919]] 2025-10-27T04:18:06.523Z,1761538686.523 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:06.776Z,1761538686.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:06.778Z,1761538686.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314838,0.949104,-0.008876],[-0.948996,0.314941,0.014797],[0.016839,0.003765,0.999851]] 2025-10-27T04:18:07.028Z,1761538687.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:07.186Z,1761538687.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302340,0.953152,-0.009546],[-0.952952,0.302475,0.019803],[0.021763,0.003109,0.999758]] 2025-10-27T04:18:07.280Z,1761538687.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:07.532Z,1761538687.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:07.581Z,1761538687.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288921,0.957294,-0.010632],[-0.956981,0.289101,0.024651],[0.026672,0.003052,0.999640]] 2025-10-27T04:18:07.784Z,1761538687.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:07.988Z,1761538687.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274986,0.961381,-0.011358],[-0.960932,0.275207,0.029506],[0.031493,0.002800,0.999500]] 2025-10-27T04:18:08.036Z,1761538688.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:08.288Z,1761538688.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:08.407Z,1761538688.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260927,0.965282,-0.012166],[-0.964672,0.261196,0.034418],[0.036401,0.002756,0.999333]] 2025-10-27T04:18:08.540Z,1761538688.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:08.792Z,1761538688.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:08.798Z,1761538688.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247750,0.968732,-0.013335],[-0.967952,0.248087,0.039018],[0.041107,0.003241,0.999150]] 2025-10-27T04:18:09.044Z,1761538689.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:09.202Z,1761538689.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234930,0.971897,-0.014963],[-0.970940,0.235366,0.043338],[0.045642,0.004347,0.998948]] 2025-10-27T04:18:09.297Z,1761538689.297 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:09.548Z,1761538689.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:09.604Z,1761538689.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222841,0.974668,-0.019098],[-0.973595,0.223506,0.046444],[0.049536,0.008244,0.998738]] 2025-10-27T04:18:09.800Z,1761538689.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:10.005Z,1761538690.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212385,0.976933,-0.022246],[-0.975779,0.213245,0.048804],[0.052422,0.011342,0.998561]] 2025-10-27T04:18:10.052Z,1761538690.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:10.304Z,1761538690.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:10.434Z,1761538690.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203496,0.978887,-0.019207],[-0.977578,0.204230,0.051303],[0.054142,0.008337,0.998498]] 2025-10-27T04:18:10.556Z,1761538690.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:10.808Z,1761538690.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:10.818Z,1761538690.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196644,0.980335,-0.016578],[-0.979036,0.197243,0.050826],[0.053096,0.006236,0.998570]] 2025-10-27T04:18:11.060Z,1761538691.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:11.219Z,1761538691.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192095,0.981274,-0.014167],[-0.980132,0.192558,0.047559],[0.049397,0.004750,0.998768]] 2025-10-27T04:18:11.312Z,1761538691.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:11.564Z,1761538691.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:11.816Z,1761538691.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:12.026Z,1761538692.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190655,0.981634,-0.006748],[-0.981037,0.190774,0.034213],[0.034872,0.000097,0.999392]] 2025-10-27T04:18:12.068Z,1761538692.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:12.320Z,1761538692.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:12.462Z,1761538692.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193964,0.981005,-0.002656],[-0.980675,0.193968,0.025554],[0.025583,-0.002352,0.999670]] 2025-10-27T04:18:12.572Z,1761538692.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:12.826Z,1761538692.826 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:12.839Z,1761538692.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200056,0.979771,0.005132],[-0.979649,0.199939,0.017700],[0.016316,-0.008569,0.999830]] 2025-10-27T04:18:13.076Z,1761538693.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:13.328Z,1761538693.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:13.580Z,1761538693.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:13.832Z,1761538693.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:14.046Z,1761538694.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228908,0.973208,0.021629],[-0.973367,0.229119,-0.007827],[-0.012573,-0.019261,0.999735]] 2025-10-27T04:18:14.084Z,1761538694.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:14.336Z,1761538694.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:14.487Z,1761538694.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241437,0.970145,0.022943],[-0.970138,0.241867,-0.018258],[-0.023262,-0.017849,0.999570]] 2025-10-27T04:18:14.588Z,1761538694.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:14.840Z,1761538694.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:14.858Z,1761538694.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253684,0.966975,0.024588],[-0.966697,0.254335,-0.028468],[-0.033782,-0.016547,0.999292]] 2025-10-27T04:18:15.092Z,1761538695.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:15.258Z,1761538695.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265299,0.963961,0.019878],[-0.963136,0.265912,-0.040730],[-0.044548,-0.008340,0.998972]] 2025-10-27T04:18:15.344Z,1761538695.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:15.596Z,1761538695.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:15.672Z,1761538695.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276826,0.960712,0.019983],[-0.959417,0.277496,-0.050151],[-0.053726,-0.005289,0.998542]] 2025-10-27T04:18:15.848Z,1761538695.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:16.065Z,1761538696.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286685,0.957716,0.024319],[-0.956213,0.287611,-0.054192],[-0.058895,-0.007718,0.998234]] 2025-10-27T04:18:16.100Z,1761538696.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:16.352Z,1761538696.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:16.510Z,1761538696.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295310,0.955151,0.021867],[-0.953489,0.296089,-0.056476],[-0.060417,-0.004172,0.998164]] 2025-10-27T04:18:16.604Z,1761538696.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:16.856Z,1761538696.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:16.874Z,1761538696.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302421,0.952965,0.020002],[-0.951461,0.303068,-0.053594],[-0.057135,-0.002823,0.998362]] 2025-10-27T04:18:17.108Z,1761538697.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:17.279Z,1761538697.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307406,0.951437,0.016406],[-0.950292,0.307841,-0.046685],[-0.049469,-0.001239,0.998775]] 2025-10-27T04:18:17.360Z,1761538697.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:17.612Z,1761538697.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:17.694Z,1761538697.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311013,0.950343,0.010933],[-0.949596,0.311203,-0.037683],[-0.039214,0.001338,0.999230]] 2025-10-27T04:18:17.864Z,1761538697.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:18.085Z,1761538698.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312868,0.949770,0.007153],[-0.949403,0.312946,-0.026444],[-0.027354,0.001482,0.999625]] 2025-10-27T04:18:18.116Z,1761538698.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:18.368Z,1761538698.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:18.514Z,1761538698.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313359,0.949632,0.002179],[-0.949506,0.313354,-0.015768],[-0.015656,0.002872,0.999873]] 2025-10-27T04:18:18.620Z,1761538698.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:18.872Z,1761538698.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:18.898Z,1761538698.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313395,0.949621,0.001614],[-0.949615,0.313399,-0.003463],[-0.003794,-0.000448,0.999993]] 2025-10-27T04:18:19.124Z,1761538699.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:19.298Z,1761538699.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312367,0.949961,0.001296],[-0.949921,0.312341,0.009610],[0.008724,-0.004233,0.999953]] 2025-10-27T04:18:19.376Z,1761538699.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:19.628Z,1761538699.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:19.707Z,1761538699.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310966,0.950417,-0.002969],[-0.950188,0.310957,0.021175],[0.021049,-0.003764,0.999771]] 2025-10-27T04:18:19.881Z,1761538699.881 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:20.106Z,1761538700.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309436,0.950859,-0.010793],[-0.950318,0.309624,0.032072],[0.033838,0.000333,0.999427]] 2025-10-27T04:18:20.132Z,1761538700.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:20.384Z,1761538700.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:20.526Z,1761538700.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307913,0.951200,-0.020190],[-0.950239,0.308518,0.043150],[0.047274,0.005899,0.998865]] 2025-10-27T04:18:20.636Z,1761538700.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:20.888Z,1761538700.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:20.917Z,1761538700.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307392,0.951015,-0.032861],[-0.949678,0.308778,0.052607],[0.060177,0.015036,0.998074]] 2025-10-27T04:18:21.140Z,1761538701.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:21.318Z,1761538701.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307812,0.950624,-0.039578],[-0.948723,0.309810,0.062781],[0.071943,0.018224,0.997242]] 2025-10-27T04:18:21.394Z,1761538701.394 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:21.644Z,1761538701.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:21.728Z,1761538701.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309006,0.950238,-0.039533],[-0.947640,0.311151,0.071860],[0.080585,0.015258,0.996631]] 2025-10-27T04:18:21.896Z,1761538701.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:22.127Z,1761538702.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311606,0.949311,-0.041347],[-0.946515,0.313934,0.074531],[0.083733,0.015911,0.996361]] 2025-10-27T04:18:22.148Z,1761538702.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:22.400Z,1761538702.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:22.534Z,1761538702.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316132,0.947903,-0.039240],[-0.945178,0.318252,0.073168],[0.081844,0.013958,0.996547]] 2025-10-27T04:18:22.652Z,1761538702.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:22.904Z,1761538702.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:22.936Z,1761538702.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322245,0.945953,-0.036481],[-0.943648,0.324052,0.067214],[0.075403,0.012766,0.997071]] 2025-10-27T04:18:23.157Z,1761538703.157 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:23.408Z,1761538703.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:23.660Z,1761538703.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:23.744Z,1761538703.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336997,0.941100,-0.027641],[-0.939872,0.337996,0.048986],[0.055443,0.009471,0.998417]] 2025-10-27T04:18:23.912Z,1761538703.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:24.146Z,1761538704.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344436,0.938657,-0.016955],[-0.937720,0.344850,0.041944],[0.045218,0.001452,0.998976]] 2025-10-27T04:18:24.164Z,1761538704.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:24.416Z,1761538704.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:24.550Z,1761538704.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351713,0.936093,-0.005261],[-0.935439,0.351669,0.035819],[0.035380,-0.007677,0.999344]] 2025-10-27T04:18:24.669Z,1761538704.669 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:24.920Z,1761538704.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:24.965Z,1761538704.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359294,0.933224,-0.000642],[-0.932897,0.359186,0.026232],[0.024711,-0.008826,0.999656]] 2025-10-27T04:18:25.172Z,1761538705.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:25.359Z,1761538705.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367998,0.929823,0.002583],[-0.929725,0.367915,0.015792],[0.013733,-0.008213,0.999872]] 2025-10-27T04:18:25.424Z,1761538705.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:25.676Z,1761538705.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:25.762Z,1761538705.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376876,0.926243,0.006165],[-0.926260,0.376847,0.005468],[0.002742,-0.007771,0.999966]] 2025-10-27T04:18:25.928Z,1761538705.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:26.175Z,1761538706.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384240,0.923188,0.009164],[-0.923196,0.384295,-0.005200],[-0.008322,-0.006463,0.999945]] 2025-10-27T04:18:26.180Z,1761538706.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:26.432Z,1761538706.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:26.570Z,1761538706.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389830,0.920822,0.010940],[-0.920682,0.389966,-0.016478],[-0.019439,-0.003649,0.999804]] 2025-10-27T04:18:26.684Z,1761538706.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:26.936Z,1761538706.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:27.188Z,1761538707.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:27.378Z,1761538707.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396041,0.918083,0.016564],[-0.917303,0.396387,-0.037850],[-0.041315,-0.000204,0.999146]] 2025-10-27T04:18:27.445Z,1761538707.445 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:27.697Z,1761538707.697 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:27.782Z,1761538707.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395705,0.918209,0.017592],[-0.916933,0.396084,-0.048487],[-0.051489,0.003056,0.998669]] 2025-10-27T04:18:27.948Z,1761538707.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:28.188Z,1761538708.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393494,0.919057,0.022294],[-0.917398,0.394123,-0.055207],[-0.059525,0.001271,0.998226]] 2025-10-27T04:18:28.200Z,1761538708.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:28.452Z,1761538708.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:28.590Z,1761538708.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389007,0.920901,0.024785],[-0.918951,0.389795,-0.059906],[-0.064829,0.000527,0.997896]] 2025-10-27T04:18:28.704Z,1761538708.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:28.956Z,1761538708.956 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:29.208Z,1761538709.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:29.398Z,1761538709.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375071,0.926691,0.023789],[-0.924830,0.375824,-0.058702],[-0.063339,0.000017,0.997992]] 2025-10-27T04:18:29.460Z,1761538709.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:29.714Z,1761538709.714 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:29.802Z,1761538709.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366403,0.930256,0.019291],[-0.928730,0.366907,-0.053295],[-0.056656,0.001611,0.998392]] 2025-10-27T04:18:29.964Z,1761538709.964 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:30.205Z,1761538710.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356769,0.934088,0.014000],[-0.933046,0.357033,-0.044193],[-0.046278,0.002704,0.998925]] 2025-10-27T04:18:30.216Z,1761538710.216 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:30.468Z,1761538710.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:30.609Z,1761538710.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346343,0.938083,0.006859],[-0.937513,0.346375,-0.033089],[-0.033416,0.005029,0.999429]] 2025-10-27T04:18:30.722Z,1761538710.722 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:30.972Z,1761538710.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:31.022Z,1761538711.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335733,0.941956,0.001163],[-0.941761,0.335688,-0.020018],[-0.019246,0.005626,0.999799]] 2025-10-27T04:18:31.224Z,1761538711.224 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:31.418Z,1761538711.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325136,0.945667,-0.000969],[-0.945659,0.325129,-0.004596],[-0.004032,0.002411,0.999989]] 2025-10-27T04:18:31.476Z,1761538711.476 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:31.729Z,1761538711.729 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:31.980Z,1761538711.980 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:32.225Z,1761538712.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305881,0.952049,-0.006227],[-0.951653,0.305934,0.027598],[0.028179,-0.002515,0.999600]] 2025-10-27T04:18:32.232Z,1761538712.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:32.484Z,1761538712.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:32.631Z,1761538712.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297038,0.954760,-0.014237],[-0.953832,0.297377,0.042090],[0.044420,0.001078,0.999012]] 2025-10-27T04:18:32.739Z,1761538712.739 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:32.988Z,1761538712.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:33.240Z,1761538713.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:33.493Z,1761538713.493 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:33.746Z,1761538713.746 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:33.842Z,1761538713.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282673,0.958648,-0.033031],[-0.955695,0.284416,0.075855],[0.082112,0.010126,0.996572]] 2025-10-27T04:18:33.996Z,1761538713.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:34.248Z,1761538714.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:34.248Z,1761538714.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282192,0.958675,-0.036189],[-0.955622,0.284219,0.077505],[0.084588,0.012712,0.996335]] 2025-10-27T04:18:34.500Z,1761538714.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:34.669Z,1761538714.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284761,0.957944,-0.035415],[-0.955172,0.286670,0.073931],[0.080975,0.012775,0.996634]] 2025-10-27T04:18:34.754Z,1761538714.754 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:35.004Z,1761538715.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:35.068Z,1761538715.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296173,0.954725,-0.027958],[-0.953193,0.297310,0.055044],[0.060864,0.010347,0.998092]] 2025-10-27T04:18:35.256Z,1761538715.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:35.508Z,1761538715.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:35.762Z,1761538715.762 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:35.870Z,1761538715.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314796,0.949144,-0.005474],[-0.948492,0.314785,0.035693],[0.035601,-0.006044,0.999348]] 2025-10-27T04:18:36.012Z,1761538716.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:36.265Z,1761538716.265 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:36.272Z,1761538716.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323791,0.946108,0.006308],[-0.945849,0.323526,0.026483],[0.023015,-0.014542,0.999629]] 2025-10-27T04:18:36.516Z,1761538716.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:36.770Z,1761538716.770 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:37.020Z,1761538717.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:37.093Z,1761538717.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347125,0.937781,0.008482],[-0.937801,0.347160,-0.003117],[-0.005868,-0.006873,0.999959]] 2025-10-27T04:18:37.272Z,1761538717.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:37.480Z,1761538717.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357654,0.933803,0.009789],[-0.933640,0.357776,-0.017679],[-0.020011,-0.002816,0.999796]] 2025-10-27T04:18:37.524Z,1761538717.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:37.776Z,1761538717.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:37.881Z,1761538717.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366750,0.930285,0.008021],[-0.929713,0.366809,-0.032951],[-0.033596,0.004628,0.999425]] 2025-10-27T04:18:38.028Z,1761538718.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:38.280Z,1761538718.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:38.287Z,1761538718.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374713,0.927026,0.014605],[-0.926079,0.374992,-0.041933],[-0.044349,0.002187,0.999014]] 2025-10-27T04:18:38.532Z,1761538718.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:38.690Z,1761538718.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380377,0.924658,0.017917],[-0.923372,0.380794,-0.048780],[-0.051928,0.002011,0.998649]] 2025-10-27T04:18:38.787Z,1761538718.787 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:39.036Z,1761538719.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:39.097Z,1761538719.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384272,0.923009,0.019716],[-0.921584,0.384774,-0.051297],[-0.054934,0.001543,0.998489]] 2025-10-27T04:18:39.288Z,1761538719.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:39.498Z,1761538719.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386476,0.922108,0.018793],[-0.920711,0.386926,-0.050784],[-0.054100,0.002324,0.998533]] 2025-10-27T04:18:39.540Z,1761538719.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:39.792Z,1761538719.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:39.903Z,1761538719.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386364,0.922188,0.017115],[-0.921046,0.386737,-0.045910],[-0.048957,0.001974,0.998799]] 2025-10-27T04:18:40.044Z,1761538720.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:40.297Z,1761538720.297 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:40.306Z,1761538720.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385013,0.922774,0.015899],[-0.921957,0.385341,-0.038815],[-0.041944,0.000286,0.999120]] 2025-10-27T04:18:40.548Z,1761538720.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:40.715Z,1761538720.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382507,0.923860,0.013103],[-0.923318,0.382731,-0.031622],[-0.034229,-0.000003,0.999414]] 2025-10-27T04:18:40.801Z,1761538720.801 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:41.052Z,1761538721.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:41.126Z,1761538721.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379095,0.925280,0.011993],[-0.924991,0.379278,-0.023224],[-0.026038,-0.002289,0.999658]] 2025-10-27T04:18:41.304Z,1761538721.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:41.519Z,1761538721.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374624,0.927122,0.010054],[-0.927013,0.374739,-0.014757],[-0.017449,-0.003792,0.999841]] 2025-10-27T04:18:41.556Z,1761538721.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:41.808Z,1761538721.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:41.921Z,1761538721.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369919,0.929044,0.006086],[-0.929023,0.369956,-0.006926],[-0.008686,-0.003091,0.999958]] 2025-10-27T04:18:42.060Z,1761538722.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:42.312Z,1761538722.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:42.327Z,1761538722.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363760,0.931487,0.003240],[-0.931492,0.363754,0.002247],[0.000915,-0.003836,0.999992]] 2025-10-27T04:18:42.564Z,1761538722.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:42.732Z,1761538722.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357209,0.934024,-0.001039],[-0.933956,0.357196,0.011718],[0.011317,-0.003215,0.999931]] 2025-10-27T04:18:42.817Z,1761538722.817 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:43.076Z,1761538723.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:43.141Z,1761538723.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351756,0.936062,-0.007502],[-0.935826,0.351836,0.021029],[0.022324,-0.000377,0.999751]] 2025-10-27T04:18:43.320Z,1761538723.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:43.537Z,1761538723.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346913,0.937777,-0.015001],[-0.937284,0.347220,0.030608],[0.033912,0.003442,0.999419]] 2025-10-27T04:18:43.572Z,1761538723.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:43.824Z,1761538723.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:43.949Z,1761538723.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343085,0.939010,-0.023504],[-0.938195,0.343789,0.039994],[0.045635,0.008330,0.998923]] 2025-10-27T04:18:44.076Z,1761538724.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:44.328Z,1761538724.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:44.346Z,1761538724.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340497,0.939675,-0.032759],[-0.938618,0.341751,0.046933],[0.055298,0.014768,0.998361]] 2025-10-27T04:18:44.580Z,1761538724.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:44.751Z,1761538724.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338423,0.940406,-0.033267],[-0.938881,0.339820,0.055003],[0.063030,0.012619,0.997932]] 2025-10-27T04:18:44.839Z,1761538724.839 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:45.092Z,1761538725.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:45.165Z,1761538725.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337068,0.940866,-0.034018],[-0.939157,0.338554,0.058019],[0.066105,0.012392,0.997736]] 2025-10-27T04:18:45.344Z,1761538725.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:45.558Z,1761538725.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337357,0.940769,-0.033836],[-0.939190,0.338804,0.055982],[0.064130,0.012893,0.997858]] 2025-10-27T04:18:45.596Z,1761538725.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:45.848Z,1761538725.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:45.976Z,1761538725.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339075,0.940247,-0.031032],[-0.938964,0.340281,0.050552],[0.058091,0.011996,0.998239]] 2025-10-27T04:18:46.100Z,1761538726.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:46.352Z,1761538726.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:46.370Z,1761538726.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341777,0.939352,-0.028377],[-0.938480,0.342737,0.042273],[0.049435,0.012183,0.998703]] 2025-10-27T04:18:46.604Z,1761538726.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:46.770Z,1761538726.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345079,0.938324,-0.021657],[-0.937719,0.345658,0.034700],[0.040046,0.008334,0.999163]] 2025-10-27T04:18:46.856Z,1761538726.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:47.108Z,1761538727.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:47.176Z,1761538727.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348030,0.937435,-0.009478],[-0.936973,0.348157,0.029469],[0.030925,-0.001376,0.999521]] 2025-10-27T04:18:47.360Z,1761538727.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:47.578Z,1761538727.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350553,0.936542,0.001244],[-0.936297,0.350430,0.023365],[0.021446,-0.009355,0.999726]] 2025-10-27T04:18:47.612Z,1761538727.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:47.864Z,1761538727.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:48.005Z,1761538728.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353932,0.935257,0.005194],[-0.935215,0.353844,0.012923],[0.010248,-0.009431,0.999903]] 2025-10-27T04:18:48.117Z,1761538728.117 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:48.368Z,1761538728.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:48.385Z,1761538728.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357791,0.933767,0.008077],[-0.933800,0.357792,0.001311],[-0.001665,-0.008011,0.999967]] 2025-10-27T04:18:48.620Z,1761538728.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:48.789Z,1761538728.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362070,0.932082,0.011330],[-0.932048,0.362184,-0.010458],[-0.013851,-0.006774,0.999881]] 2025-10-27T04:18:48.873Z,1761538728.873 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:49.124Z,1761538729.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:49.198Z,1761538729.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364318,0.931208,0.011114],[-0.930913,0.364483,-0.023520],[-0.025953,-0.001777,0.999662]] 2025-10-27T04:18:49.376Z,1761538729.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:49.603Z,1761538729.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366204,0.930474,0.010642],[-0.929765,0.366343,-0.036481],[-0.037844,0.003465,0.999278]] 2025-10-27T04:18:49.629Z,1761538729.629 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:49.880Z,1761538729.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:50.031Z,1761538730.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366310,0.930316,0.018127],[-0.929362,0.366755,-0.042151],[-0.045862,-0.001406,0.998947]] 2025-10-27T04:18:50.132Z,1761538730.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:50.384Z,1761538730.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:50.410Z,1761538730.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365602,0.930575,0.019095],[-0.929395,0.366100,-0.046861],[-0.050598,-0.000614,0.998719]] 2025-10-27T04:18:50.636Z,1761538730.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:50.813Z,1761538730.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364545,0.931007,0.018234],[-0.929814,0.365001,-0.047117],[-0.050521,0.000222,0.998723]] 2025-10-27T04:18:50.888Z,1761538730.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:51.141Z,1761538731.141 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:51.221Z,1761538731.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363025,0.931611,0.017729],[-0.930636,0.363457,-0.042608],[-0.046137,-0.001031,0.998935]] 2025-10-27T04:18:51.392Z,1761538731.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:51.624Z,1761538731.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360961,0.932470,0.014360],[-0.931773,0.361247,-0.036046],[-0.038799,-0.000369,0.999247]] 2025-10-27T04:18:51.644Z,1761538731.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:51.896Z,1761538731.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:52.059Z,1761538732.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358896,0.933288,0.012931],[-0.932905,0.359121,-0.026857],[-0.029709,-0.002424,0.999556]] 2025-10-27T04:18:52.149Z,1761538732.149 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:52.400Z,1761538732.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:52.429Z,1761538732.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356767,0.934129,0.010926],[-0.933972,0.356913,-0.017595],[-0.020335,-0.003927,0.999786]] 2025-10-27T04:18:52.653Z,1761538732.653 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:52.837Z,1761538732.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355168,0.934753,0.009620],[-0.934736,0.355247,-0.008255],[-0.011134,-0.006061,0.999920]] 2025-10-27T04:18:52.904Z,1761538732.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:53.156Z,1761538733.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:53.408Z,1761538733.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:53.649Z,1761538733.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353021,0.935602,0.004931],[-0.935583,0.352960,0.010174],[0.007779,-0.008205,0.999936]] 2025-10-27T04:18:53.660Z,1761538733.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:53.912Z,1761538733.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:54.087Z,1761538734.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351752,0.936093,0.000665],[-0.935919,0.351672,0.019571],[0.018087,-0.007506,0.999808]] 2025-10-27T04:18:54.164Z,1761538734.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:54.416Z,1761538734.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:54.453Z,1761538734.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351816,0.936052,-0.005754],[-0.935624,0.351831,0.028680],[0.028870,-0.004706,0.999572]] 2025-10-27T04:18:54.668Z,1761538734.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:54.854Z,1761538734.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352839,0.935581,-0.013895],[-0.934807,0.353112,0.038051],[0.040506,-0.000437,0.999179]] 2025-10-27T04:18:54.885Z,1761538734.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:18:54.920Z,1761538734.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:55.172Z,1761538735.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:55.258Z,1761538735.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355369,0.934444,-0.022968],[-0.933253,0.356081,0.047376],[0.052448,0.004599,0.998613]] 2025-10-27T04:18:55.424Z,1761538735.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:55.663Z,1761538735.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359345,0.932554,-0.034862],[-0.931063,0.360799,0.054266],[0.063184,0.012958,0.997918]] 2025-10-27T04:18:55.676Z,1761538735.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:55.928Z,1761538735.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:56.102Z,1761538736.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364388,0.930451,-0.038497],[-0.928430,0.366189,0.062645],[0.072385,0.012915,0.997293]] 2025-10-27T04:18:56.180Z,1761538736.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:56.432Z,1761538736.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:56.470Z,1761538736.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370321,0.928054,-0.039719],[-0.925633,0.372265,0.067989],[0.077884,0.011588,0.996895]] 2025-10-27T04:18:56.686Z,1761538736.686 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:56.874Z,1761538736.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377945,0.924866,-0.042196],[-0.922495,0.380057,0.067531],[0.078494,0.013403,0.996825]] 2025-10-27T04:18:56.940Z,1761538736.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:57.192Z,1761538737.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:57.278Z,1761538737.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387920,0.920789,-0.040812],[-0.918656,0.389854,0.063910],[0.074758,0.012700,0.997121]] 2025-10-27T04:18:57.444Z,1761538737.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:57.684Z,1761538737.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398672,0.916215,-0.040128],[-0.914581,0.400436,0.056511],[0.067845,0.014171,0.997595]] 2025-10-27T04:18:57.696Z,1761538737.696 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:57.948Z,1761538737.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:58.156Z,1761538738.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409827,0.911374,-0.037948],[-0.910248,0.411307,0.047706],[0.059086,0.014991,0.998140]] 2025-10-27T04:18:58.200Z,1761538738.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:58.452Z,1761538738.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:58.490Z,1761538738.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420517,0.906656,-0.033764],[-0.905928,0.421632,0.038997],[0.049593,0.014189,0.998669]] 2025-10-27T04:18:58.704Z,1761538738.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:58.894Z,1761538738.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430825,0.902006,-0.027825],[-0.901542,0.431566,0.031206],[0.040156,0.011641,0.999126]] 2025-10-27T04:18:58.957Z,1761538738.957 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:59.208Z,1761538739.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:59.306Z,1761538739.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440581,0.897488,-0.020101],[-0.897157,0.440985,0.025325],[0.031593,0.006876,0.999477]] 2025-10-27T04:18:59.460Z,1761538739.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:59.709Z,1761538739.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450358,0.892748,-0.013360],[-0.892547,0.450544,0.019234],[0.023190,0.003262,0.999726]] 2025-10-27T04:18:59.712Z,1761538739.712 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:18:59.964Z,1761538739.964 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:00.111Z,1761538740.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458837,0.888477,-0.008831],[-0.888399,0.458916,0.012012],[0.014725,0.002334,0.999889]] 2025-10-27T04:19:00.218Z,1761538740.218 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:00.468Z,1761538740.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:00.510Z,1761538740.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465474,0.885050,-0.004532],[-0.885040,0.465492,0.004574],[0.006158,0.001882,0.999979]] 2025-10-27T04:19:00.720Z,1761538740.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:00.915Z,1761538740.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469470,0.882948,0.000926],[-0.882945,0.469471,-0.002337],[-0.002498,0.000279,0.999997]] 2025-10-27T04:19:00.972Z,1761538740.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:01.224Z,1761538741.224 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:01.318Z,1761538741.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469995,0.882629,0.008452],[-0.882595,0.470058,-0.008462],[-0.011441,-0.003483,0.999928]] 2025-10-27T04:19:01.476Z,1761538741.476 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:01.726Z,1761538741.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467928,0.883663,0.013555],[-0.883506,0.468107,-0.017093],[-0.021450,-0.003978,0.999762]] 2025-10-27T04:19:01.728Z,1761538741.728 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:01.980Z,1761538741.980 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:02.137Z,1761538742.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463366,0.885971,0.018627],[-0.885585,0.463721,-0.026478],[-0.032096,-0.004227,0.999476]] 2025-10-27T04:19:02.232Z,1761538742.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:02.484Z,1761538742.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:02.533Z,1761538742.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456583,0.889377,0.023258],[-0.888637,0.457157,-0.036495],[-0.043091,-0.004005,0.999063]] 2025-10-27T04:19:02.736Z,1761538742.736 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:02.933Z,1761538742.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447286,0.894015,0.025951],[-0.892768,0.448033,-0.047236],[-0.053857,-0.002040,0.998547]] 2025-10-27T04:19:02.988Z,1761538742.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:03.240Z,1761538743.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:03.337Z,1761538743.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438333,0.898442,0.025801],[-0.896528,0.439084,-0.058682],[-0.064051,0.002591,0.997943]] 2025-10-27T04:19:03.493Z,1761538743.493 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:03.742Z,1761538743.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427851,0.903298,0.031572],[-0.901133,0.429011,-0.062522],[-0.070021,-0.001701,0.997544]] 2025-10-27T04:19:03.744Z,1761538743.744 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:03.996Z,1761538743.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:04.152Z,1761538744.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416342,0.908686,0.030814],[-0.906380,0.417479,-0.064703],[-0.071659,-0.000991,0.997429]] 2025-10-27T04:19:04.248Z,1761538744.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:04.500Z,1761538744.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:04.549Z,1761538744.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404676,0.914037,0.027801],[-0.911968,0.405629,-0.061479],[-0.067471,-0.000475,0.997721]] 2025-10-27T04:19:04.752Z,1761538744.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:04.954Z,1761538744.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392638,0.919378,0.024093],[-0.917901,0.393373,-0.052108],[-0.057384,-0.001655,0.998351]] 2025-10-27T04:19:05.004Z,1761538745.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:05.256Z,1761538745.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:05.358Z,1761538745.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381174,0.924356,0.016493],[-0.923492,0.381530,-0.039964],[-0.043234,0.000002,0.999065]] 2025-10-27T04:19:05.508Z,1761538745.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:05.760Z,1761538745.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:05.765Z,1761538745.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371204,0.928490,0.010643],[-0.928168,0.371355,-0.024468],[-0.026671,-0.000796,0.999644]] 2025-10-27T04:19:06.012Z,1761538746.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:06.165Z,1761538746.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362680,0.931897,0.005607],[-0.931862,0.362716,-0.008378],[-0.009841,-0.002187,0.999949]] 2025-10-27T04:19:06.266Z,1761538746.266 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:06.516Z,1761538746.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:06.570Z,1761538746.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356081,0.934452,0.002258],[-0.934426,0.356050,0.008773],[0.007394,-0.005233,0.999959]] 2025-10-27T04:19:06.768Z,1761538746.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:06.976Z,1761538746.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351581,0.936154,-0.002465],[-0.935828,0.351525,0.025627],[0.024857,-0.006703,0.999669]] 2025-10-27T04:19:07.033Z,1761538747.033 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:07.284Z,1761538747.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:07.378Z,1761538747.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348940,0.937082,-0.010844],[-0.936184,0.349083,0.041232],[0.042423,-0.004235,0.999091]] 2025-10-27T04:19:07.536Z,1761538747.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:07.782Z,1761538747.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348543,0.936988,-0.023908],[-0.935388,0.349346,0.054827],[0.059725,0.003253,0.998210]] 2025-10-27T04:19:07.788Z,1761538747.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:08.040Z,1761538748.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:08.191Z,1761538748.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350210,0.935952,-0.036705],[-0.933677,0.351953,0.066156],[0.074837,0.011102,0.997134]] 2025-10-27T04:19:08.295Z,1761538748.295 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:08.544Z,1761538748.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:08.593Z,1761538748.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353911,0.934457,-0.039206],[-0.931215,0.355967,0.078263],[0.087089,0.008811,0.996162]] 2025-10-27T04:19:08.796Z,1761538748.796 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:08.994Z,1761538748.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360158,0.931878,-0.043458],[-0.928209,0.362623,0.083266],[0.093353,0.010349,0.995579]] 2025-10-27T04:19:09.048Z,1761538749.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:09.300Z,1761538749.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:09.398Z,1761538749.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369589,0.928036,-0.046409],[-0.924494,0.372278,0.081971],[0.093349,0.012609,0.995554]] 2025-10-27T04:19:09.552Z,1761538749.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:09.802Z,1761538749.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381658,0.923241,-0.044310],[-0.920105,0.384052,0.076887],[0.088002,0.011426,0.996055]] 2025-10-27T04:19:09.804Z,1761538749.804 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:10.056Z,1761538750.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:10.212Z,1761538750.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395820,0.917363,-0.042083],[-0.914971,0.397874,0.067259],[0.078444,0.011882,0.996848]] 2025-10-27T04:19:10.312Z,1761538750.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:10.560Z,1761538750.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:10.616Z,1761538750.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411500,0.910721,-0.035434],[-0.908960,0.412932,0.057265],[0.066785,0.008643,0.997730]] 2025-10-27T04:19:10.812Z,1761538750.812 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:11.015Z,1761538751.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427376,0.903774,-0.023283],[-0.902404,0.428010,0.049749],[0.054927,-0.000251,0.998490]] 2025-10-27T04:19:11.064Z,1761538751.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:11.318Z,1761538751.318 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:11.418Z,1761538751.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441853,0.897015,-0.011353],[-0.896033,0.441912,0.042879],[0.043480,-0.008774,0.999016]] 2025-10-27T04:19:11.568Z,1761538751.568 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:11.820Z,1761538751.820 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:11.823Z,1761538751.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455978,0.889966,-0.006640],[-0.889434,0.455943,0.031991],[0.031498,-0.008682,0.999466]] 2025-10-27T04:19:12.072Z,1761538752.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:12.226Z,1761538752.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469703,0.882818,-0.003406],[-0.882607,0.469669,0.020415],[0.019623,-0.006583,0.999786]] 2025-10-27T04:19:12.326Z,1761538752.326 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:12.576Z,1761538752.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:12.640Z,1761538752.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481969,0.876187,-0.001471],[-0.876150,0.481963,0.008505],[0.008161,-0.002810,0.999963]] 2025-10-27T04:19:12.828Z,1761538752.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:13.035Z,1761538753.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492006,0.870591,-0.001018],[-0.870588,0.491999,-0.003742],[-0.002757,0.002727,0.999992]] 2025-10-27T04:19:13.082Z,1761538753.082 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:13.334Z,1761538753.334 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:13.438Z,1761538753.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499212,0.866480,0.000801],[-0.866384,0.499170,-0.014404],[-0.012881,0.006497,0.999896]] 2025-10-27T04:19:13.584Z,1761538753.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:13.836Z,1761538753.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:13.843Z,1761538753.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503366,0.864066,0.003503],[-0.863798,0.503304,-0.023206],[-0.021814,0.008655,0.999725]] 2025-10-27T04:19:14.088Z,1761538754.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:14.246Z,1761538754.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504595,0.863328,0.006998],[-0.862863,0.504564,-0.029713],[-0.029182,0.008955,0.999534]] 2025-10-27T04:19:14.343Z,1761538754.343 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:14.592Z,1761538754.592 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:14.652Z,1761538754.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502770,0.864345,0.011403],[-0.863707,0.502848,-0.033972],[-0.035098,0.007231,0.999358]] 2025-10-27T04:19:14.844Z,1761538754.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:15.053Z,1761538755.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498684,0.866665,0.014352],[-0.865859,0.498848,-0.037940],[-0.040041,0.006493,0.999177]] 2025-10-27T04:19:15.097Z,1761538755.097 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:15.350Z,1761538755.350 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:15.457Z,1761538755.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491358,0.870785,0.017345],[-0.869856,0.491640,-0.040500],[-0.043794,0.004812,0.999029]] 2025-10-27T04:19:15.600Z,1761538755.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:15.853Z,1761538755.853 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:15.863Z,1761538755.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481090,0.876446,0.019866],[-0.875421,0.481490,-0.042477],[-0.046794,0.003044,0.998900]] 2025-10-27T04:19:16.105Z,1761538756.105 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:16.272Z,1761538756.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468172,0.883370,0.021720],[-0.882288,0.468674,-0.043743],[-0.048821,0.001316,0.998807]] 2025-10-27T04:19:16.359Z,1761538756.359 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:16.608Z,1761538756.608 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:16.669Z,1761538756.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453180,0.891145,0.022113],[-0.890024,0.453718,-0.044687],[-0.049855,0.000570,0.998756]] 2025-10-27T04:19:16.860Z,1761538756.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:17.074Z,1761538757.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437672,0.898912,0.020030],[-0.897739,0.438125,-0.045951],[-0.050082,0.002130,0.998743]] 2025-10-27T04:19:17.113Z,1761538757.113 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:17.366Z,1761538757.366 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:17.478Z,1761538757.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423555,0.905668,0.019176],[-0.904559,0.423985,-0.044835],[-0.048736,0.001645,0.998810]] 2025-10-27T04:19:17.616Z,1761538757.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:17.868Z,1761538757.868 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:17.885Z,1761538757.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409425,0.912178,0.017399],[-0.911206,0.409792,-0.042119],[-0.045550,0.001390,0.998961]] 2025-10-27T04:19:18.120Z,1761538758.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:18.286Z,1761538758.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396253,0.918025,0.014645],[-0.917247,0.396520,-0.037802],[-0.040510,0.001546,0.999178]] 2025-10-27T04:19:18.372Z,1761538758.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:18.625Z,1761538758.625 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:18.690Z,1761538758.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384211,0.923165,0.012170],[-0.922629,0.384403,-0.031469],[-0.033729,0.000862,0.999431]] 2025-10-27T04:19:18.876Z,1761538758.876 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:19.093Z,1761538759.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373561,0.927551,0.010086],[-0.927240,0.373697,-0.024013],[-0.026042,-0.000382,0.999661]] 2025-10-27T04:19:19.128Z,1761538759.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:19.382Z,1761538759.382 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:19.500Z,1761538759.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364623,0.931097,0.010411],[-0.930981,0.364748,-0.015242],[-0.017989,-0.004135,0.999830]] 2025-10-27T04:19:19.632Z,1761538759.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:19.884Z,1761538759.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:20.136Z,1761538760.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:20.310Z,1761538760.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352638,0.935685,0.011818],[-0.935755,0.352650,0.001101],[-0.003137,-0.011447,0.999930]] 2025-10-27T04:19:20.388Z,1761538760.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:20.641Z,1761538760.641 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:20.721Z,1761538760.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348169,0.937385,0.009394],[-0.937379,0.348026,0.014072],[0.009921,-0.013705,0.999857]] 2025-10-27T04:19:20.892Z,1761538760.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:21.144Z,1761538761.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:21.398Z,1761538761.398 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:21.522Z,1761538761.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350075,0.936716,0.003234],[-0.936456,0.349892,0.025015],[0.022301,-0.011785,0.999682]] 2025-10-27T04:19:21.650Z,1761538761.650 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:21.900Z,1761538761.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:21.925Z,1761538761.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353956,0.935262,-0.000644],[-0.934829,0.353813,0.030193],[0.028467,-0.010085,0.999544]] 2025-10-27T04:19:22.152Z,1761538762.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:22.326Z,1761538762.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359371,0.933183,-0.004633],[-0.932552,0.359304,0.035336],[0.034640,-0.008378,0.999365]] 2025-10-27T04:19:22.404Z,1761538762.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:22.656Z,1761538762.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:22.733Z,1761538762.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366621,0.930335,-0.008081],[-0.929489,0.366637,0.040345],[0.040497,-0.007280,0.999153]] 2025-10-27T04:19:22.908Z,1761538762.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:23.136Z,1761538763.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375030,0.926938,-0.011782],[-0.925865,0.375167,0.044988],[0.046121,-0.005963,0.998918]] 2025-10-27T04:19:23.160Z,1761538763.160 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:23.412Z,1761538763.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:23.538Z,1761538763.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384610,0.922948,-0.015536],[-0.921663,0.384898,0.048908],[0.051119,-0.004492,0.998682]] 2025-10-27T04:19:23.667Z,1761538763.667 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:23.920Z,1761538763.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:23.943Z,1761538763.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394575,0.918629,-0.020787],[-0.917205,0.395120,0.051129],[0.055182,-0.001108,0.998476]] 2025-10-27T04:19:24.172Z,1761538764.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:24.348Z,1761538764.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405395,0.913785,-0.025536],[-0.912308,0.406193,0.051975],[0.057867,0.002227,0.998322]] 2025-10-27T04:19:24.424Z,1761538764.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:24.676Z,1761538764.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:24.749Z,1761538764.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416170,0.908818,-0.029197],[-0.907360,0.417164,0.051693],[0.059160,0.004979,0.998236]] 2025-10-27T04:19:24.928Z,1761538764.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:25.153Z,1761538765.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427477,0.903516,-0.030351],[-0.902132,0.428513,0.050336],[0.058485,0.005863,0.998271]] 2025-10-27T04:19:25.180Z,1761538765.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:25.432Z,1761538765.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:25.684Z,1761538765.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:25.936Z,1761538765.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:25.970Z,1761538765.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449667,0.892665,-0.030791],[-0.891671,0.450646,0.042902],[0.052173,0.008164,0.998605]] 2025-10-27T04:19:26.188Z,1761538766.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:26.365Z,1761538766.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460566,0.887161,-0.028709],[-0.886384,0.461391,0.037968],[0.046930,0.007961,0.998866]] 2025-10-27T04:19:26.440Z,1761538766.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:26.692Z,1761538766.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:26.770Z,1761538766.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470696,0.881926,-0.025537],[-0.881342,0.471335,0.032846],[0.041004,0.007046,0.999134]] 2025-10-27T04:19:26.944Z,1761538766.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:27.175Z,1761538767.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480189,0.876900,-0.021567],[-0.876457,0.480644,0.028353],[0.035229,0.005288,0.999365]] 2025-10-27T04:19:27.196Z,1761538767.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:27.448Z,1761538767.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:27.581Z,1761538767.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488501,0.872402,-0.016788],[-0.872056,0.488783,0.024672],[0.029729,0.002588,0.999555]] 2025-10-27T04:19:27.701Z,1761538767.701 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:27.952Z,1761538767.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:27.986Z,1761538767.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495337,0.868598,-0.013394],[-0.868355,0.495516,0.020600],[0.024530,0.001427,0.999698]] 2025-10-27T04:19:28.204Z,1761538768.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:28.385Z,1761538768.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501303,0.865195,-0.011533],[-0.865052,0.501432,0.015843],[0.019490,0.002035,0.999808]] 2025-10-27T04:19:28.457Z,1761538768.457 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:28.708Z,1761538768.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:28.789Z,1761538768.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505796,0.862597,-0.009864],[-0.862528,0.505884,0.011250],[0.014694,0.002818,0.999888]] 2025-10-27T04:19:28.960Z,1761538768.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:29.196Z,1761538769.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508623,0.860957,-0.007531],[-0.860925,0.508672,0.007789],[0.010537,0.002522,0.999941]] 2025-10-27T04:19:29.212Z,1761538769.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:29.464Z,1761538769.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:29.616Z,1761538769.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509796,0.860281,-0.005013],[-0.860269,0.509817,0.004829],[0.006710,0.001851,0.999976]] 2025-10-27T04:19:29.716Z,1761538769.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:29.968Z,1761538769.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:30.040Z,1761538770.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509889,0.860237,-0.002202],[-0.860236,0.509893,0.001961],[0.002810,0.000894,0.999996]] 2025-10-27T04:19:30.220Z,1761538770.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:30.407Z,1761538770.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508587,0.861010,0.000860],[-0.861010,0.508587,-0.000680],[-0.001023,-0.000395,0.999999]] 2025-10-27T04:19:30.472Z,1761538770.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:30.724Z,1761538770.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:30.812Z,1761538770.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505936,0.862558,0.004642],[-0.862556,0.505952,-0.003141],[-0.005058,-0.002415,0.999984]] 2025-10-27T04:19:30.976Z,1761538770.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:31.213Z,1761538771.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501769,0.864963,0.008107],[-0.864951,0.501819,-0.006050],[-0.009301,-0.003977,0.999949]] 2025-10-27T04:19:31.228Z,1761538771.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:31.480Z,1761538771.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:31.634Z,1761538771.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495917,0.868307,0.010472],[-0.868260,0.496010,-0.009930],[-0.013816,-0.004168,0.999896]] 2025-10-27T04:19:31.733Z,1761538771.733 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:31.984Z,1761538771.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:32.025Z,1761538772.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488418,0.872520,0.012552],[-0.872414,0.488562,-0.014146],[-0.018475,-0.004042,0.999821]] 2025-10-27T04:19:32.236Z,1761538772.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:32.427Z,1761538772.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479272,0.877558,0.013783],[-0.877363,0.479460,-0.018764],[-0.023075,-0.003100,0.999729]] 2025-10-27T04:19:32.488Z,1761538772.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:32.740Z,1761538772.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:32.830Z,1761538772.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468773,0.883207,0.014028],[-0.882884,0.468982,-0.023911],[-0.027697,-0.001176,0.999616]] 2025-10-27T04:19:32.992Z,1761538772.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:33.233Z,1761538773.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457702,0.889022,0.012174],[-0.888524,0.457855,-0.029893],[-0.032150,0.002865,0.999479]] 2025-10-27T04:19:33.244Z,1761538773.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:33.496Z,1761538773.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:33.660Z,1761538773.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446344,0.894790,0.011273],[-0.894149,0.446456,-0.034260],[-0.035689,0.005212,0.999349]] 2025-10-27T04:19:33.748Z,1761538773.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:33.000Z,1761538774.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:34.048Z,1761538774.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434471,0.900596,0.012753],[-0.899928,0.434643,-0.034872],[-0.036949,0.003674,0.999310]] 2025-10-27T04:19:34.252Z,1761538774.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:34.445Z,1761538774.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422544,0.906262,0.012055],[-0.905625,0.422702,-0.034155],[-0.036049,0.003514,0.999344]] 2025-10-27T04:19:34.504Z,1761538774.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:34.756Z,1761538774.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:34.859Z,1761538774.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411019,0.911565,0.010647],[-0.911059,0.411147,-0.030501],[-0.032181,0.002837,0.999478]] 2025-10-27T04:19:35.008Z,1761538775.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:35.254Z,1761538775.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400020,0.916463,0.008894],[-0.916139,0.400116,-0.024440],[-0.025957,0.001629,0.999662]] 2025-10-27T04:19:35.260Z,1761538775.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:35.512Z,1761538775.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:35.689Z,1761538775.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389533,0.920995,0.005637],[-0.920828,0.389570,-0.017619],[-0.018423,0.001673,0.999829]] 2025-10-27T04:19:35.764Z,1761538775.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:36.016Z,1761538776.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:36.064Z,1761538776.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379531,0.925167,0.004729],[-0.925124,0.379559,-0.008953],[-0.010078,-0.000976,0.999949]] 2025-10-27T04:19:36.268Z,1761538776.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:36.465Z,1761538776.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370193,0.928944,0.004511],[-0.928954,0.370196,0.000282],[-0.001408,-0.004295,0.999990]] 2025-10-27T04:19:36.520Z,1761538776.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:36.772Z,1761538776.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:36.870Z,1761538776.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362609,0.931935,0.003370],[-0.931914,0.362568,0.008932],[0.007102,-0.006379,0.999954]] 2025-10-27T04:19:37.024Z,1761538777.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:37.276Z,1761538777.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:37.276Z,1761538777.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356925,0.934132,0.001367],[-0.934003,0.356851,0.017178],[0.015559,-0.007408,0.999852]] 2025-10-27T04:19:37.528Z,1761538777.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:37.718Z,1761538777.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352923,0.935650,-0.002277],[-0.935340,0.352867,0.024966],[0.024163,-0.006682,0.999686]] 2025-10-27T04:19:37.782Z,1761538777.782 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:38.032Z,1761538778.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:38.116Z,1761538778.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350025,0.936714,-0.007025],[-0.936153,0.350061,0.032773],[0.033158,-0.004895,0.999438]] 2025-10-27T04:19:38.284Z,1761538778.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:38.486Z,1761538778.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348803,0.937120,-0.011954],[-0.936236,0.348995,0.040803],[0.042409,-0.003040,0.999096]] 2025-10-27T04:19:38.536Z,1761538778.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:38.788Z,1761538778.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:38.890Z,1761538778.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349339,0.936839,-0.017196],[-0.935577,0.349760,0.048615],[0.051559,-0.000895,0.998670]] 2025-10-27T04:19:39.040Z,1761538779.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:39.292Z,1761538779.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:39.295Z,1761538779.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351526,0.935833,-0.025427],[-0.934277,0.352413,0.054136],[0.059623,0.004726,0.998210]] 2025-10-27T04:19:39.544Z,1761538779.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:39.740Z,1761538779.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355429,0.934131,-0.032714],[-0.932384,0.356794,0.057952],[0.065806,0.009904,0.997783]] 2025-10-27T04:19:39.796Z,1761538779.796 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:40.048Z,1761538780.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:40.112Z,1761538780.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361103,0.931977,-0.032001],[-0.929896,0.362448,0.062645],[0.069983,0.007136,0.997523]] 2025-10-27T04:19:40.300Z,1761538780.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:40.508Z,1761538780.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368653,0.928998,-0.032524],[-0.926926,0.370016,0.062415],[0.070018,0.007138,0.997520]] 2025-10-27T04:19:40.561Z,1761538780.561 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:40.812Z,1761538780.812 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:40.910Z,1761538780.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378645,0.925013,-0.031295],[-0.923148,0.379880,0.059064],[0.066524,0.006526,0.997764]] 2025-10-27T04:19:41.064Z,1761538781.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:41.316Z,1761538781.316 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:41.319Z,1761538781.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390893,0.919964,-0.029471],[-0.918485,0.391948,0.052558],[0.059903,0.006524,0.998183]] 2025-10-27T04:19:41.568Z,1761538781.568 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:41.746Z,1761538781.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404384,0.914214,-0.026206],[-0.913132,0.405190,0.044841],[0.051613,0.005797,0.998650]] 2025-10-27T04:19:41.820Z,1761538781.820 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:42.072Z,1761538782.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:42.133Z,1761538782.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419326,0.907617,-0.019946],[-0.906832,0.419794,0.037804],[0.042685,0.002235,0.999086]] 2025-10-27T04:19:42.324Z,1761538782.324 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:42.526Z,1761538782.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434968,0.900372,-0.011542],[-0.899810,0.435107,0.031990],[0.033825,-0.003529,0.999421]] 2025-10-27T04:19:42.577Z,1761538782.577 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:42.828Z,1761538782.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:42.929Z,1761538782.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450410,0.892813,-0.004028],[-0.892461,0.450351,0.026404],[0.025388,-0.008298,0.999643]] 2025-10-27T04:19:43.080Z,1761538783.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:43.332Z,1761538783.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:43.337Z,1761538783.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465953,0.884809,0.000915],[-0.884648,0.465848,0.019595],[0.016912,-0.009940,0.999808]] 2025-10-27T04:19:43.584Z,1761538783.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:43.756Z,1761538783.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481745,0.876305,0.003352],[-0.876273,0.481684,0.011196],[0.008196,-0.008331,0.999932]] 2025-10-27T04:19:43.838Z,1761538783.838 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:44.092Z,1761538784.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:44.144Z,1761538784.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496499,0.868016,0.006157],[-0.868037,0.496488,0.003339],[-0.000158,-0.007002,0.999976]] 2025-10-27T04:19:44.344Z,1761538784.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:44.545Z,1761538784.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509732,0.860287,0.008978],[-0.860294,0.509781,-0.004307],[-0.008282,-0.005528,0.999950]] 2025-10-27T04:19:44.596Z,1761538784.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:44.848Z,1761538784.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:44.950Z,1761538784.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521365,0.853255,0.011594],[-0.853178,0.521482,-0.012017],[-0.016300,-0.003627,0.999861]] 2025-10-27T04:19:45.100Z,1761538785.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:45.352Z,1761538785.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:45.363Z,1761538785.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530569,0.847513,0.014756],[-0.847306,0.530768,-0.018910],[-0.023859,-0.002470,0.999712]] 2025-10-27T04:19:45.604Z,1761538785.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:45.761Z,1761538785.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536918,0.843467,0.016805],[-0.843070,0.537181,-0.025868],[-0.030846,-0.000278,0.999524]] 2025-10-27T04:19:45.856Z,1761538785.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:46.108Z,1761538786.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:46.165Z,1761538786.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540690,0.841066,0.016183],[-0.840397,0.540911,-0.033885],[-0.037253,0.004721,0.999295]] 2025-10-27T04:19:46.360Z,1761538786.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:46.566Z,1761538786.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541555,0.840531,0.015026],[-0.839569,0.541675,-0.041375],[-0.042916,0.009792,0.999031]] 2025-10-27T04:19:46.612Z,1761538786.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:46.866Z,1761538786.866 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:46.970Z,1761538786.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539015,0.842161,0.015105],[-0.841003,0.539094,-0.045741],[-0.046665,0.011951,0.998839]] 2025-10-27T04:19:47.116Z,1761538787.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:47.368Z,1761538787.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:47.375Z,1761538787.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533156,0.845872,0.015657],[-0.844651,0.533255,-0.046933],[-0.048049,0.011798,0.998775]] 2025-10-27T04:19:47.620Z,1761538787.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:47.777Z,1761538787.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524838,0.851099,0.013258],[-0.849894,0.524831,-0.047259],[-0.047181,0.013535,0.998795]] 2025-10-27T04:19:47.872Z,1761538787.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:48.124Z,1761538788.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:48.181Z,1761538788.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513698,0.857904,0.010696],[-0.856873,0.513631,-0.044178],[-0.043394,0.013529,0.998966]] 2025-10-27T04:19:48.376Z,1761538788.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:48.597Z,1761538788.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500435,0.865749,0.006594],[-0.864975,0.500286,-0.039146],[-0.037189,0.013887,0.999212]] 2025-10-27T04:19:48.629Z,1761538788.629 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:48.882Z,1761538788.882 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:48.990Z,1761538788.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485700,0.874123,0.002151],[-0.873642,0.485511,-0.032083],[-0.029089,0.013704,0.999483]] 2025-10-27T04:19:49.132Z,1761538789.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:49.388Z,1761538789.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:49.395Z,1761538789.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469906,0.882716,-0.000901],[-0.882494,0.469765,-0.022931],[-0.019818,0.011571,0.999737]] 2025-10-27T04:19:49.640Z,1761538789.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:49.798Z,1761538789.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454113,0.890940,-0.002563],[-0.890884,0.454047,-0.012935],[-0.010360,0.008157,0.999913]] 2025-10-27T04:19:49.894Z,1761538789.894 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:50.144Z,1761538790.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:50.206Z,1761538790.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438289,0.898832,-0.002140],[-0.898834,0.438286,-0.001847],[-0.000723,0.002733,0.999996]] 2025-10-27T04:19:50.396Z,1761538790.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:50.608Z,1761538790.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422932,0.906157,-0.002976],[-0.906123,0.422942,0.007841],[0.008363,-0.000620,0.999965]] 2025-10-27T04:19:50.649Z,1761538790.649 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:50.902Z,1761538790.902 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:51.010Z,1761538791.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408541,0.912727,-0.004941],[-0.912584,0.408565,0.016302],[0.016899,-0.002151,0.999855]] 2025-10-27T04:19:51.152Z,1761538791.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:51.404Z,1761538791.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:51.415Z,1761538791.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394735,0.918767,-0.007211],[-0.918453,0.394790,0.024181],[0.025063,-0.002922,0.999682]] 2025-10-27T04:19:51.656Z,1761538791.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:51.818Z,1761538791.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381740,0.924213,-0.010216],[-0.923687,0.381868,0.031279],[0.032810,-0.002504,0.999458]] 2025-10-27T04:19:51.911Z,1761538791.911 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:52.160Z,1761538792.160 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:52.222Z,1761538792.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369885,0.928978,-0.013574],[-0.928221,0.370132,0.037523],[0.039882,-0.001280,0.999204]] 2025-10-27T04:19:52.412Z,1761538792.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:52.626Z,1761538792.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359328,0.932992,-0.020240],[-0.932111,0.359873,0.040753],[0.045306,0.004222,0.998964]] 2025-10-27T04:19:52.664Z,1761538792.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:52.918Z,1761538792.918 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:53.032Z,1761538793.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350860,0.936063,-0.026157],[-0.935159,0.351701,0.042239],[0.048738,0.009641,0.998765]] 2025-10-27T04:19:53.168Z,1761538793.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:53.420Z,1761538793.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:53.435Z,1761538793.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343914,0.938675,-0.024760],[-0.937636,0.344716,0.044826],[0.050612,0.007800,0.998688]] 2025-10-27T04:19:53.672Z,1761538793.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:53.837Z,1761538793.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338525,0.940675,-0.023046],[-0.939644,0.339244,0.044528],[0.049705,0.006581,0.998742]] 2025-10-27T04:19:53.926Z,1761538793.926 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:54.176Z,1761538794.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:54.245Z,1761538794.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335396,0.941872,-0.019651],[-0.940931,0.335944,0.042325],[0.046466,0.004295,0.998911]] 2025-10-27T04:19:54.428Z,1761538794.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:54.648Z,1761538794.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334383,0.942302,-0.015960],[-0.941531,0.334756,0.038174],[0.041314,0.002263,0.999144]] 2025-10-27T04:19:54.680Z,1761538794.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:54.934Z,1761538794.934 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:55.049Z,1761538795.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335395,0.942043,-0.008073],[-0.941407,0.335467,0.034855],[0.035543,-0.004090,0.999360]] 2025-10-27T04:19:55.184Z,1761538795.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:55.436Z,1761538795.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:55.453Z,1761538795.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337910,0.941175,0.002667],[-0.940711,0.337652,0.032479],[0.029668,-0.013484,0.999469]] 2025-10-27T04:19:55.498Z,1761538795.498 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-10-27T04:14:55.3Z 2025-10-27T04:19:55.498Z,1761538795.498 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped 2025-10-27T04:19:55.498Z,1761538795.498 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1 2025-10-27T04:19:55.498Z,1761538795.498 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion 2025-10-27T04:19:55.498Z,1761538795.498 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1 2025-10-27T04:19:55.688Z,1761538795.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:55.858Z,1761538795.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341149,0.939975,0.008038],[-0.939733,0.340829,0.027142],[0.022773,-0.016813,0.999599]] 2025-10-27T04:19:55.875Z,1761538795.875 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped 2025-10-27T04:19:55.876Z,1761538795.876 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion 2025-10-27T04:19:55.876Z,1761538795.876 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped 2025-10-27T04:19:55.876Z,1761538795.876 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1 2025-10-27T04:19:55.876Z,1761538795.876 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach 2025-10-27T04:19:55.876Z,1761538795.876 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1 2025-10-27T04:19:55.948Z,1761538795.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:56.196Z,1761538796.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:56.262Z,1761538796.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346757,0.937899,0.010226],[-0.937836,0.346519,0.019717],[0.014949,-0.016428,0.999753]] 2025-10-27T04:19:56.309Z,1761538796.309 [lineCaptureHoming:Lap:Docked:Detach] Stopped 2025-10-27T04:19:56.309Z,1761538796.309 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach 2025-10-27T04:19:56.309Z,1761538796.309 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped 2025-10-27T04:19:56.309Z,1761538796.309 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1 2025-10-27T04:19:56.310Z,1761538796.310 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1 2025-10-27T04:19:56.310Z,1761538796.310 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1 2025-10-27T04:19:56.310Z,1761538796.310 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize. 2025-10-27T04:19:56.310Z,1761538796.310 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1 2025-10-27T04:19:56.310Z,1761538796.310 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize. 2025-10-27T04:19:56.310Z,1761538796.310 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1 2025-10-27T04:19:56.448Z,1761538796.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:56.666Z,1761538796.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353577,0.935313,0.013150],[-0.935376,0.353421,0.012813],[0.007336,-0.016831,0.999831]] 2025-10-27T04:19:56.700Z,1761538796.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:56.708Z,1761538796.708 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped 2025-10-27T04:19:56.708Z,1761538796.708 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1 2025-10-27T04:19:56.708Z,1761538796.708 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped 2025-10-27T04:19:56.709Z,1761538796.709 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped 2025-10-27T04:19:56.709Z,1761538796.709 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped 2025-10-27T04:19:56.709Z,1761538796.709 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize. 2025-10-27T04:19:56.709Z,1761538796.709 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1 2025-10-27T04:19:56.709Z,1761538796.709 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift 2025-10-27T04:19:56.709Z,1761538796.709 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1 2025-10-27T04:19:56.709Z,1761538796.709 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T04:19:56.709Z,1761538796.709 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1 2025-10-27T04:19:56.710Z,1761538796.710 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize. 2025-10-27T04:19:56.710Z,1761538796.710 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1 2025-10-27T04:19:56.710Z,1761538796.710 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize. 2025-10-27T04:19:56.710Z,1761538796.710 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1 2025-10-27T04:19:56.710Z,1761538796.710 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize. 2025-10-27T04:19:56.710Z,1761538796.710 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1 2025-10-27T04:19:56.954Z,1761538796.954 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:57.081Z,1761538797.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361942,0.932085,0.014653],[-0.932201,0.361898,0.005654],[-0.000033,-0.015706,0.999877]] 2025-10-27T04:19:57.138Z,1761538797.138 [lineCaptureHoming:Lap:Docked:Drift] Stopped 2025-10-27T04:19:57.138Z,1761538797.138 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift 2025-10-27T04:19:57.138Z,1761538797.138 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped 2025-10-27T04:19:57.138Z,1761538797.138 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped 2025-10-27T04:19:57.138Z,1761538797.138 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T04:19:57.138Z,1761538797.138 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped 2025-10-27T04:19:57.138Z,1761538797.138 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped 2025-10-27T04:19:57.138Z,1761538797.138 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped 2025-10-27T04:19:57.139Z,1761538797.139 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize. 2025-10-27T04:19:57.139Z,1761538797.139 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked 2025-10-27T04:19:57.139Z,1761538797.139 [lineCaptureHoming:Lap:Docked] Stopped 2025-10-27T04:19:57.139Z,1761538797.139 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked 2025-10-27T04:19:57.139Z,1761538797.139 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap 2025-10-27T04:19:57.140Z,1761538797.140 [lineCaptureHoming:Lap] Stopped 2025-10-27T04:19:57.140Z,1761538797.140 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap 2025-10-27T04:19:57.149Z,1761538797.149 [lineCaptureHoming](INFO): Completed lineCaptureHoming 2025-10-27T04:19:57.149Z,1761538797.149 [MissionManager](INFO): lineCaptureHoming is completed. 2025-10-27T04:19:57.149Z,1761538797.149 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming 2025-10-27T04:19:57.149Z,1761538797.149 [lineCaptureHoming] Stopped 2025-10-27T04:19:57.149Z,1761538797.149 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:Science] Stopped 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:Science:B] Stopped 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:Science:C] Stopped 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:Science:E] Stopped 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:Science:OceanCurrent] Stopped 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:StandardEnvelopes] Stopped 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes 2025-10-27T04:19:57.150Z,1761538797.150 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-27T04:19:57.151Z,1761538797.151 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-27T04:19:57.151Z,1761538797.151 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-27T04:19:57.151Z,1761538797.151 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-27T04:19:57.151Z,1761538797.151 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-27T04:19:57.151Z,1761538797.151 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-27T04:19:57.151Z,1761538797.151 [lineCaptureHoming:TrackAC.] Stopped 2025-10-27T04:19:57.151Z,1761538797.151 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-27T04:19:57.204Z,1761538797.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:57.235Z,1761538797.235 [WetLabsBB2FL](INFO): Powering down 2025-10-27T04:19:57.247Z,1761538797.247 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl 2025-10-27T04:19:57.421Z,1761538797.421 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl 2025-10-27T04:19:57.421Z,1761538797.421 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl 2025-10-27T04:19:57.429Z,1761538797.429 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl 2025-10-27T04:19:57.456Z,1761538797.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:57.675Z,1761538797.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383307,0.923577,0.009024],[-0.923517,0.383393,-0.011293],[-0.013890,-0.004005,0.999896]] 2025-10-27T04:19:57.708Z,1761538797.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:57.962Z,1761538797.962 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:58.058Z,1761538798.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394394,0.918912,0.007309],[-0.918755,0.394461,-0.017033],[-0.018535,0.000002,0.999828]] 2025-10-27T04:19:58.212Z,1761538798.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:58.462Z,1761538798.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405357,0.914113,0.009132],[-0.913932,0.405459,-0.018214],[-0.020353,-0.000963,0.999792]] 2025-10-27T04:19:58.464Z,1761538798.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:58.716Z,1761538798.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:58.866Z,1761538798.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416544,0.909096,0.006015],[-0.908897,0.416579,-0.019185],[-0.019947,0.002525,0.999798]] 2025-10-27T04:19:58.969Z,1761538798.969 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:59.220Z,1761538799.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:59.272Z,1761538799.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426969,0.904257,0.004204],[-0.904115,0.426977,-0.016346],[-0.016576,0.003178,0.999858]] 2025-10-27T04:19:59.472Z,1761538799.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:59.674Z,1761538799.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436471,0.899718,0.000356],[-0.899647,0.436441,-0.012437],[-0.011345,0.005108,0.999923]] 2025-10-27T04:19:59.724Z,1761538799.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:19:59.976Z,1761538799.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:00.078Z,1761538800.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445288,0.895385,-0.001808],[-0.895374,0.445270,-0.006255],[-0.004795,0.004405,0.999979]] 2025-10-27T04:20:00.228Z,1761538800.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:00.480Z,1761538800.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:00.483Z,1761538800.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452859,0.891580,-0.001823],[-0.891578,0.452862,0.002195],[0.002783,0.000631,0.999996]] 2025-10-27T04:20:00.732Z,1761538800.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:00.888Z,1761538800.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459108,0.888368,-0.004589],[-0.888317,0.459131,0.009578],[0.010615,-0.000321,0.999944]] 2025-10-27T04:20:00.984Z,1761538800.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:01.236Z,1761538801.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:01.290Z,1761538801.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463824,0.885852,-0.011550],[-0.885741,0.463954,0.014470],[0.018177,0.003519,0.999829]] 2025-10-27T04:20:01.488Z,1761538801.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:01.693Z,1761538801.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467087,0.884001,-0.019279],[-0.883848,0.467409,0.018471],[0.025339,0.008412,0.999644]] 2025-10-27T04:20:01.740Z,1761538801.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:01.992Z,1761538801.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:02.098Z,1761538802.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468088,0.883281,-0.026626],[-0.883096,0.468662,0.022307],[0.032182,0.013071,0.999397]] 2025-10-27T04:20:02.244Z,1761538802.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:02.496Z,1761538802.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:02.508Z,1761538802.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466750,0.883707,-0.034743],[-0.883576,0.467645,0.024524],[0.037919,0.019252,0.999095]] 2025-10-27T04:20:02.618Z,1761538802.618 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . 2025-10-27T04:20:02.626Z,1761538802.626 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h 2025-10-27T04:20:02.630Z,1761538802.630 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s 2025-10-27T04:20:02.634Z,1761538802.634 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s 2025-10-27T04:20:02.638Z,1761538802.638 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min 2025-10-27T04:20:02.641Z,1761538802.641 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count 2025-10-27T04:20:02.645Z,1761538802.645 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count 2025-10-27T04:20:02.649Z,1761538802.649 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m 2025-10-27T04:20:02.651Z,1761538802.651 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m 2025-10-27T04:20:02.654Z,1761538802.654 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km 2025-10-27T04:20:02.692Z,1761538802.692 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool 2025-10-27T04:20:02.694Z,1761538802.694 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h 2025-10-27T04:20:02.712Z,1761538802.712 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool 2025-10-27T04:20:02.714Z,1761538802.714 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h 2025-10-27T04:20:02.714Z,1761538802.714 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-10-27T04:20:02.715Z,1761538802.715 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-10-27T04:20:02.720Z,1761538802.720 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-10-27T04:20:02.751Z,1761538802.751 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:02.822Z,1761538802.822 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-10-27T04:20:02.826Z,1761538802.826 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m 2025-10-27T04:20:02.828Z,1761538802.828 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-10-27T04:20:02.830Z,1761538802.830 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m 2025-10-27T04:20:02.833Z,1761538802.833 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-10-27T04:20:02.834Z,1761538802.834 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-10-27T04:20:02.840Z,1761538802.840 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-10-27T04:20:02.846Z,1761538802.846 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-10-27T04:20:02.856Z,1761538802.856 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-10-27T04:20:02.857Z,1761538802.857 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-10-27T04:20:02.858Z,1761538802.858 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-10-27T04:20:02.906Z,1761538802.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463551,0.885171,-0.039900],[-0.885103,0.464678,0.025808],[0.041385,0.023352,0.998870]] 2025-10-27T04:20:02.970Z,1761538802.970 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-10-27T04:20:02.980Z,1761538802.980 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2025-10-27T04:20:02.982Z,1761538802.982 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-10-27T04:20:02.985Z,1761538802.985 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-10-27T04:20:02.985Z,1761538802.985 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-10-27T04:20:02.986Z,1761538802.986 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-10-27T04:20:02.000Z,1761538803.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:03.215Z,1761538803.215 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-10-27T04:20:03.219Z,1761538803.219 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool 2025-10-27T04:20:03.221Z,1761538803.221 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool 2025-10-27T04:20:03.223Z,1761538803.223 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool 2025-10-27T04:20:03.225Z,1761538803.225 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool 2025-10-27T04:20:03.227Z,1761538803.227 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool 2025-10-27T04:20:03.234Z,1761538803.234 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-10-27T04:20:03.237Z,1761538803.237 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait. 2025-10-27T04:20:03.240Z,1761538803.240 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-10-27T04:20:03.240Z,1761538803.240 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-10-27T04:20:03.245Z,1761538803.245 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-10-27T04:20:03.252Z,1761538803.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:03.310Z,1761538803.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458036,0.888086,-0.038803],[-0.887957,0.459142,0.026837],[0.041649,0.022164,0.998886]] 2025-10-27T04:20:03.507Z,1761538803.507 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:03.715Z,1761538803.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450601,0.891980,-0.036474],[-0.891940,0.451542,0.023505],[0.037436,0.021941,0.999058]] 2025-10-27T04:20:03.760Z,1761538803.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:04.012Z,1761538804.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:04.121Z,1761538804.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441007,0.896979,-0.030683],[-0.897016,0.441636,0.017873],[0.029582,0.019641,0.999369]] 2025-10-27T04:20:04.265Z,1761538804.265 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:04.516Z,1761538804.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:04.523Z,1761538804.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430572,0.902256,-0.023261],[-0.902357,0.430875,0.009898],[0.018953,0.016727,0.999680]] 2025-10-27T04:20:04.768Z,1761538804.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:04.926Z,1761538804.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418495,0.908192,-0.007105],[-0.908184,0.418534,0.005484],[0.007954,0.004157,0.999960]] 2025-10-27T04:20:05.020Z,1761538805.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:05.272Z,1761538805.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:05.331Z,1761538805.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403337,0.915021,0.007543],[-0.915045,0.403351,-0.000485],[-0.003486,-0.006707,0.999971]] 2025-10-27T04:20:05.524Z,1761538805.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:05.734Z,1761538805.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387786,0.921668,0.012233],[-0.921592,0.387931,-0.013341],[-0.017041,-0.006100,0.999836]] 2025-10-27T04:20:05.776Z,1761538805.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:06.028Z,1761538806.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:06.147Z,1761538806.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372532,0.927957,0.010729],[-0.927508,0.372686,-0.028876],[-0.030794,0.000805,0.999525]] 2025-10-27T04:20:06.281Z,1761538806.281 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:06.532Z,1761538806.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:06.544Z,1761538806.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357117,0.933986,0.011724],[-0.933079,0.357289,-0.041327],[-0.042788,0.003820,0.999077]] 2025-10-27T04:20:06.784Z,1761538806.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:06.946Z,1761538806.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341770,0.939567,0.020172],[-0.938449,0.342349,-0.045934],[-0.050064,-0.003232,0.998741]] 2025-10-27T04:20:07.036Z,1761538807.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:07.288Z,1761538807.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:07.350Z,1761538807.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328467,0.944281,0.021040],[-0.942985,0.329121,-0.049588],[-0.053750,-0.003552,0.998548]] 2025-10-27T04:20:07.540Z,1761538807.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:07.754Z,1761538807.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316628,0.948312,0.021236],[-0.947168,0.317295,-0.046873],[-0.051189,-0.005273,0.998675]] 2025-10-27T04:20:07.770Z,1761538807.770 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-10-27T04:20:07.792Z,1761538807.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:07.894Z,1761538807.894 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool 2025-10-27T04:20:07.896Z,1761538807.896 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDepthAvgProfilesChlActive = 0 bool 2025-10-27T04:20:07.897Z,1761538807.897 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool 2025-10-27T04:20:07.900Z,1761538807.900 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min 2025-10-27T04:20:07.903Z,1761538807.903 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool 2025-10-27T04:20:07.929Z,1761538807.929 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool 2025-10-27T04:20:07.943Z,1761538807.943 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool 2025-10-27T04:20:07.960Z,1761538807.960 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool 2025-10-27T04:20:07.963Z,1761538807.963 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count 2025-10-27T04:20:07.981Z,1761538807.981 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count 2025-10-27T04:20:07.987Z,1761538807.987 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 % 2025-10-27T04:20:07.993Z,1761538807.993 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool 2025-10-27T04:20:07.994Z,1761538807.994 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool 2025-10-27T04:20:08.001Z,1761538808.001 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool 2025-10-27T04:20:08.003Z,1761538808.003 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool 2025-10-27T04:20:08.009Z,1761538808.009 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-27T04:20:08.015Z,1761538808.015 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-27T04:20:08.017Z,1761538808.017 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-27T04:20:08.027Z,1761538808.027 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-27T04:20:08.029Z,1761538808.029 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-10-27T04:20:08.035Z,1761538808.035 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-10-27T04:20:08.037Z,1761538808.037 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-27T04:20:08.042Z,1761538808.042 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-27T04:20:08.044Z,1761538808.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:08.053Z,1761538808.053 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-10-27T04:20:08.059Z,1761538808.059 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool 2025-10-27T04:20:08.062Z,1761538808.062 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool 2025-10-27T04:20:08.065Z,1761538808.065 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool 2025-10-27T04:20:08.072Z,1761538808.072 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool 2025-10-27T04:20:08.074Z,1761538808.074 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool 2025-10-27T04:20:08.093Z,1761538808.093 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-10-27T04:20:08.110Z,1761538808.110 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool 2025-10-27T04:20:08.173Z,1761538808.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306716,0.951564,0.021258],[-0.950831,0.307335,-0.038278],[-0.042957,-0.008472,0.999041]] 2025-10-27T04:20:08.200Z,1761538808.200 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count 2025-10-27T04:20:08.202Z,1761538808.202 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count 2025-10-27T04:20:08.213Z,1761538808.213 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m 2025-10-27T04:20:08.227Z,1761538808.227 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m 2025-10-27T04:20:08.229Z,1761538808.229 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-10-27T04:20:08.236Z,1761538808.236 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan % 2025-10-27T04:20:08.238Z,1761538808.238 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan % 2025-10-27T04:20:08.256Z,1761538808.256 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l 2025-10-27T04:20:08.258Z,1761538808.258 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count 2025-10-27T04:20:08.286Z,1761538808.286 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool 2025-10-27T04:20:08.296Z,1761538808.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:08.300Z,1761538808.300 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l 2025-10-27T04:20:08.307Z,1761538808.307 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l 2025-10-27T04:20:08.310Z,1761538808.310 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count 2025-10-27T04:20:08.329Z,1761538808.329 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-10-27T04:20:08.332Z,1761538808.332 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-10-27T04:20:08.343Z,1761538808.343 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-10-27T04:20:08.347Z,1761538808.347 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-10-27T04:20:08.358Z,1761538808.358 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool 2025-10-27T04:20:08.373Z,1761538808.373 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l 2025-10-27T04:20:08.376Z,1761538808.376 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m 2025-10-27T04:20:08.378Z,1761538808.378 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC 2025-10-27T04:20:08.388Z,1761538808.388 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg 2025-10-27T04:20:08.395Z,1761538808.395 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg 2025-10-27T04:20:08.397Z,1761538808.397 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l 2025-10-27T04:20:08.412Z,1761538808.412 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m 2025-10-27T04:20:08.414Z,1761538808.414 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l 2025-10-27T04:20:08.421Z,1761538808.421 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m 2025-10-27T04:20:08.431Z,1761538808.431 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC 2025-10-27T04:20:08.434Z,1761538808.434 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg 2025-10-27T04:20:08.436Z,1761538808.436 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg 2025-10-27T04:20:08.439Z,1761538808.439 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l 2025-10-27T04:20:08.453Z,1761538808.453 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m 2025-10-27T04:20:08.456Z,1761538808.456 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg 2025-10-27T04:20:08.458Z,1761538808.458 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg 2025-10-27T04:20:08.469Z,1761538808.469 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3 2025-10-27T04:20:08.475Z,1761538808.475 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m 2025-10-27T04:20:08.477Z,1761538808.477 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg 2025-10-27T04:20:08.484Z,1761538808.484 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg 2025-10-27T04:20:08.486Z,1761538808.486 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb 2025-10-27T04:20:08.493Z,1761538808.493 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m 2025-10-27T04:20:08.499Z,1761538808.499 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC 2025-10-27T04:20:08.502Z,1761538808.502 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg 2025-10-27T04:20:08.519Z,1761538808.519 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg 2025-10-27T04:20:08.521Z,1761538808.521 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu 2025-10-27T04:20:08.539Z,1761538808.539 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m 2025-10-27T04:20:08.541Z,1761538808.541 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC 2025-10-27T04:20:08.548Z,1761538808.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:08.563Z,1761538808.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299456,0.953981,0.015683],[-0.953605,0.299792,-0.027599],[-0.031031,-0.006690,0.999496]] 2025-10-27T04:20:08.603Z,1761538808.603 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg 2025-10-27T04:20:08.617Z,1761538808.617 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg 2025-10-27T04:20:08.636Z,1761538808.636 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-10-27T04:20:08.644Z,1761538808.644 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-10-27T04:20:08.646Z,1761538808.646 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-10-27T04:20:08.657Z,1761538808.657 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-10-27T04:20:08.669Z,1761538808.669 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-10-27T04:20:08.680Z,1761538808.680 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-10-27T04:20:08.682Z,1761538808.682 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-10-27T04:20:08.697Z,1761538808.697 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-10-27T04:20:08.704Z,1761538808.704 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-10-27T04:20:08.706Z,1761538808.706 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-10-27T04:20:08.709Z,1761538808.709 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-10-27T04:20:08.711Z,1761538808.711 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-10-27T04:20:08.714Z,1761538808.714 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-10-27T04:20:08.728Z,1761538808.728 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-10-27T04:20:08.730Z,1761538808.730 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-10-27T04:20:08.737Z,1761538808.737 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-10-27T04:20:08.744Z,1761538808.744 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-10-27T04:20:08.746Z,1761538808.746 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-10-27T04:20:08.764Z,1761538808.764 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-10-27T04:20:08.767Z,1761538808.767 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-10-27T04:20:08.781Z,1761538808.781 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-10-27T04:20:08.786Z,1761538808.786 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-10-27T04:20:08.800Z,1761538808.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:08.801Z,1761538808.801 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-10-27T04:20:08.808Z,1761538808.808 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-10-27T04:20:08.810Z,1761538808.810 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-10-27T04:20:08.817Z,1761538808.817 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-10-27T04:20:08.831Z,1761538808.831 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-10-27T04:20:08.834Z,1761538808.834 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-10-27T04:20:08.840Z,1761538808.840 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-10-27T04:20:08.847Z,1761538808.847 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-10-27T04:20:08.850Z,1761538808.850 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-10-27T04:20:08.860Z,1761538808.860 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-10-27T04:20:08.863Z,1761538808.863 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-10-27T04:20:08.872Z,1761538808.872 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-27T04:20:08.875Z,1761538808.875 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-27T04:20:08.877Z,1761538808.877 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-10-27T04:20:08.884Z,1761538808.884 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-10-27T04:20:08.886Z,1761538808.886 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-10-27T04:20:08.892Z,1761538808.892 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-27T04:20:08.899Z,1761538808.899 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-27T04:20:08.901Z,1761538808.901 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l 2025-10-27T04:20:08.904Z,1761538808.904 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m 2025-10-27T04:20:08.915Z,1761538808.915 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg 2025-10-27T04:20:08.917Z,1761538808.917 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg 2025-10-27T04:20:08.924Z,1761538808.924 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m 2025-10-27T04:20:08.926Z,1761538808.926 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu 2025-10-27T04:20:08.933Z,1761538808.933 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m 2025-10-27T04:20:08.943Z,1761538808.943 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg 2025-10-27T04:20:08.946Z,1761538808.946 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg 2025-10-27T04:20:08.966Z,1761538808.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294963,0.955426,0.012589],[-0.955362,0.295123,-0.013629],[-0.016737,-0.008007,0.999828]] 2025-10-27T04:20:09.005Z,1761538809.005 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m 2025-10-27T04:20:09.016Z,1761538809.016 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu 2025-10-27T04:20:09.018Z,1761538809.018 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m 2025-10-27T04:20:09.029Z,1761538809.029 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg 2025-10-27T04:20:09.039Z,1761538809.039 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg 2025-10-27T04:20:09.042Z,1761538809.042 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m 2025-10-27T04:20:09.049Z,1761538809.049 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool 2025-10-27T04:20:09.052Z,1761538809.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:09.061Z,1761538809.061 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l 2025-10-27T04:20:09.144Z,1761538809.144 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T04:20:09.223Z,1761538809.223 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T04:20:09.288Z,1761538809.288 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-27T04:20:09.304Z,1761538809.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:09.328Z,1761538809.328 [OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-27T04:20:09.346Z,1761538809.346 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T04:20:09.370Z,1761538809.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293009,0.956065,0.009205],[-0.956109,0.293009,0.001307],[-0.001448,-0.009184,0.999957]] 2025-10-27T04:20:09.429Z,1761538809.429 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T04:20:09.472Z,1761538809.472 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-27T04:20:09.531Z,1761538809.531 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T04:20:09.559Z,1761538809.559 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:09.578Z,1761538809.578 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T04:20:09.606Z,1761538809.606 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-27T04:20:09.643Z,1761538809.643 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T04:20:09.676Z,1761538809.676 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T04:20:09.717Z,1761538809.717 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T04:20:09.741Z,1761538809.741 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T04:20:09.774Z,1761538809.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293845,0.955844,0.004188],[-0.955746,0.293744,0.016238],[0.014291,-0.008774,0.999859]] 2025-10-27T04:20:09.808Z,1761538809.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:09.837Z,1761538809.837 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T04:20:09.875Z,1761538809.875 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T04:20:09.927Z,1761538809.927 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T04:20:09.938Z,1761538809.938 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T04:20:09.970Z,1761538809.970 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-10-27T04:20:09.990Z,1761538809.990 [OnDock:L.Execute](DEBUG): Construct Execute. 2025-10-27T04:20:09.992Z,1761538809.992 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute. 2025-10-27T04:20:09.994Z,1761538809.994 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait. 2025-10-27T04:20:09.996Z,1761538809.996 [OnDock:N.Docked](DEBUG): Construct. 2025-10-27T04:20:09.996Z,1761538809.996 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values. 2025-10-27T04:20:10.017Z,1761538810.017 [OnDock:Detach:B.Undock](DEBUG): Construct. 2025-10-27T04:20:10.017Z,1761538810.017 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T04:20:10.060Z,1761538810.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:10.075Z,1761538810.075 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } 2025-10-27T04:20:10.076Z,1761538810.076 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock 2025-10-27T04:20:10.205Z,1761538810.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297610,0.954680,-0.003778],[-0.954214,0.297585,0.030300],[0.030051,-0.005413,0.999534]] 2025-10-27T04:20:10.282Z,1761538810.282 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-27T04:20:10.287Z,1761538810.287 [DefaultWithUndock] Running Loop=1 2025-10-27T04:20:10.287Z,1761538810.287 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-27T04:20:10.287Z,1761538810.287 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-27T04:20:10.287Z,1761538810.287 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-27T04:20:10.312Z,1761538810.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:10.564Z,1761538810.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:10.585Z,1761538810.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302883,0.952921,-0.014237],[-0.951891,0.303217,0.044309],[0.046540,0.000131,0.998916]] 2025-10-27T04:20:10.816Z,1761538810.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:10.986Z,1761538810.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310354,0.950293,-0.024961],[-0.948513,0.311307,0.058411],[0.063278,0.005547,0.997981]] 2025-10-27T04:20:11.068Z,1761538811.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:11.320Z,1761538811.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:11.390Z,1761538811.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319418,0.946972,-0.034877],[-0.944417,0.321146,0.070301],[0.077774,0.010483,0.996916]] 2025-10-27T04:20:11.572Z,1761538811.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:11.794Z,1761538811.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330243,0.943124,-0.038175],[-0.939723,0.332312,0.080552],[0.088657,0.009272,0.996019]] 2025-10-27T04:20:11.824Z,1761538811.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:12.076Z,1761538812.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:12.241Z,1761538812.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343464,0.938146,-0.043758],[-0.934569,0.346016,0.082789],[0.092809,0.012459,0.995606]] 2025-10-27T04:20:12.328Z,1761538812.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:12.580Z,1761538812.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:12.602Z,1761538812.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358914,0.932285,-0.045006],[-0.928970,0.361483,0.079654],[0.090529,0.013221,0.995806]] 2025-10-27T04:20:12.832Z,1761538812.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:13.006Z,1761538813.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376760,0.925327,-0.042676],[-0.922640,0.378966,0.071553],[0.082383,0.012417,0.996523]] 2025-10-27T04:20:13.084Z,1761538813.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:13.339Z,1761538813.339 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:13.410Z,1761538813.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395239,0.917600,-0.042389],[-0.915940,0.397179,0.057469],[0.069569,0.016112,0.997447]] 2025-10-27T04:20:13.592Z,1761538813.592 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:13.798Z,1761538813.798 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour 2025-10-27T04:20:13.819Z,1761538813.819 [CommandExec](IMPORTANT): got command run 2025-10-27T04:20:13.821Z,1761538813.821 [CommandExec](IMPORTANT): Running 2025-10-27T04:20:13.824Z,1761538813.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412861,0.910095,-0.035682],[-0.909122,0.414160,0.044381],[0.055169,0.014116,0.998377]] 2025-10-27T04:20:13.844Z,1761538813.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:13.884Z,1761538813.884 [DefaultWithUndock] Stopped 2025-10-27T04:20:13.885Z,1761538813.885 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-10-27T04:20:13.885Z,1761538813.885 [DefaultWithUndock:A.Wait] Stopped 2025-10-27T04:20:13.885Z,1761538813.885 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-27T04:20:13.885Z,1761538813.885 [MissionManager](IMPORTANT): Started mission OnDock 2025-10-27T04:20:13.885Z,1761538813.885 [OnDock] Running Loop=1 2025-10-27T04:20:13.885Z,1761538813.885 [OnDock](DEBUG): Aggregate::initialize OnDock 2025-10-27T04:20:13.885Z,1761538813.885 [OnDock:StandardEnvelopes] Running Loop=1 2025-10-27T04:20:13.885Z,1761538813.885 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes 2025-10-27T04:20:13.886Z,1761538813.886 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T04:20:13.886Z,1761538813.886 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-27T04:20:13.886Z,1761538813.886 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T04:20:13.886Z,1761538813.886 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-27T04:20:13.886Z,1761538813.886 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T04:20:13.886Z,1761538813.886 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-27T04:20:13.886Z,1761538813.886 [OnDock:BackseatDriver] Running Loop=1 2025-10-27T04:20:13.886Z,1761538813.886 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver 2025-10-27T04:20:13.887Z,1761538813.887 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-10-27T04:20:13.887Z,1761538813.887 [OnDock:PowerOnly] Running Loop=1 2025-10-27T04:20:13.891Z,1761538813.891 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly 2025-10-27T04:20:13.891Z,1761538813.891 [OnDock:PowerOnly:A] Running Loop=1 2025-10-27T04:20:13.891Z,1761538813.891 [OnDock:PowerOnly:B] Running Loop=1 2025-10-27T04:20:13.891Z,1761538813.891 [OnDock:PowerOnly:C] Running Loop=1 2025-10-27T04:20:13.891Z,1761538813.891 [OnDock:PowerOnly:D] Running Loop=1 2025-10-27T04:20:13.891Z,1761538813.891 [OnDock:PowerOnly:E.Wait] Running Loop=1 2025-10-27T04:20:13.891Z,1761538813.891 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:dataRead] Running Loop=1 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:dataRead:A] Running Loop=1 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:science] Running Loop=1 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:science:Science] Running Loop=1 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:science:Science:A] Running Loop=1 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:science:Science:B] Running Loop=1 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:science:Science:C] Running Loop=1 2025-10-27T04:20:13.892Z,1761538813.892 [OnDock:science:Science:D] Running Loop=1 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:E] Running Loop=1 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:F] Running Loop=1 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:Read_Oil] Running Loop=1 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:PeakDetectChl] Running Loop=1 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:EdgeDetectChl] Running Loop=1 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1 2025-10-27T04:20:13.893Z,1761538813.893 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport 2025-10-27T04:20:13.894Z,1761538813.894 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-27T04:20:13.894Z,1761538813.894 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-27T04:20:13.894Z,1761538813.894 [OnDock:science:Science:PeakDepthAvgProfilesChl] Running Loop=1 2025-10-27T04:20:13.894Z,1761538813.894 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChl 2025-10-27T04:20:13.894Z,1761538813.894 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Running Loop=1 2025-10-27T04:20:13.894Z,1761538813.894 [OnDock:science:Science:PeakDetectNO3] Running Loop=1 2025-10-27T04:20:13.895Z,1761538813.895 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3 2025-10-27T04:20:13.899Z,1761538813.899 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1 2025-10-27T04:20:13.899Z,1761538813.899 [OnDock:science:Science:PeakDetectOil] Running Loop=1 2025-10-27T04:20:13.899Z,1761538813.899 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil 2025-10-27T04:20:13.899Z,1761538813.899 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1 2025-10-27T04:20:13.899Z,1761538813.899 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1 2025-10-27T04:20:13.900Z,1761538813.900 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport 2025-10-27T04:20:13.900Z,1761538813.900 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-27T04:20:13.900Z,1761538813.900 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-27T04:20:13.900Z,1761538813.900 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1 2025-10-27T04:20:13.900Z,1761538813.900 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM 2025-10-27T04:20:13.900Z,1761538813.900 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1 2025-10-27T04:20:13.901Z,1761538813.901 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1 2025-10-27T04:20:13.901Z,1761538813.901 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity 2025-10-27T04:20:13.901Z,1761538813.901 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1 2025-10-27T04:20:13.901Z,1761538813.901 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1 2025-10-27T04:20:13.901Z,1761538813.901 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport 2025-10-27T04:20:13.901Z,1761538813.901 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-27T04:20:13.901Z,1761538813.901 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-27T04:20:13.902Z,1761538813.902 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-27T04:20:13.902Z,1761538813.902 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-10-27T04:20:13.902Z,1761538813.902 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-27T04:20:13.902Z,1761538813.902 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-27T04:20:13.902Z,1761538813.902 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-27T04:20:13.902Z,1761538813.902 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-27T04:20:13.902Z,1761538813.902 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-27T04:20:13.902Z,1761538813.902 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-10-27T04:20:13.902Z,1761538813.902 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-27T04:20:13.903Z,1761538813.903 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-27T04:20:13.908Z,1761538813.908 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-27T04:20:13.908Z,1761538813.908 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-27T04:20:13.908Z,1761538813.908 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-10-27T04:20:13.908Z,1761538813.908 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-10-27T04:20:13.909Z,1761538813.909 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-27T04:20:13.909Z,1761538813.909 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-10-27T04:20:13.909Z,1761538813.909 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms 2025-10-27T04:20:13.909Z,1761538813.909 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-27T04:20:13.909Z,1761538813.909 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-27T04:20:13.909Z,1761538813.909 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-27T04:20:13.910Z,1761538813.910 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-27T04:20:13.910Z,1761538813.910 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-27T04:20:13.910Z,1761538813.910 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-27T04:20:13.910Z,1761538813.910 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-27T04:20:13.910Z,1761538813.910 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1 2025-10-27T04:20:13.910Z,1761538813.910 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger 2025-10-27T04:20:13.910Z,1761538813.910 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-10-27T04:20:13.910Z,1761538813.910 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-10-27T04:20:13.911Z,1761538813.911 [OnDock:science:Science:OceanCurrent] Running Loop=1 2025-10-27T04:20:13.915Z,1761538813.915 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent 2025-10-27T04:20:13.915Z,1761538813.915 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1 2025-10-27T04:20:13.915Z,1761538813.915 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-10-27T04:20:13.915Z,1761538813.915 [OnDock:J.] Running Loop=1 2025-10-27T04:20:13.915Z,1761538813.915 [OnDock:J.](INFO): Initializing TrackAcousticContact. 2025-10-27T04:20:13.915Z,1761538813.915 [OnDock:PeriodicCheck] Running Loop=1 2025-10-27T04:20:13.916Z,1761538813.916 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck 2025-10-27T04:20:13.916Z,1761538813.916 [OnDock:PeriodicCheck:CheckIP] Running Loop=1 2025-10-27T04:20:13.916Z,1761538813.916 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP 2025-10-27T04:20:13.916Z,1761538813.916 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1 2025-10-27T04:20:13.916Z,1761538813.916 [OnDock:B] Running Loop=1 2025-10-27T04:20:13.917Z,1761538813.917 [OnDock:PeriodicCheck] Running Loop=1 2025-10-27T04:20:13.917Z,1761538813.917 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig 2025-10-27T04:20:13.917Z,1761538813.917 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped 2025-10-27T04:20:13.917Z,1761538813.917 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1 2025-10-27T04:20:13.917Z,1761538813.917 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component. 2025-10-27T04:20:13.917Z,1761538813.917 [OnDock:J.] Running Loop=1 2025-10-27T04:20:13.924Z,1761538813.924 [CommandExec](IMPORTANT): got command ! ifconfig 2025-10-27T04:20:13.952Z,1761538813.952 [OnDock:science] Stopped 2025-10-27T04:20:13.952Z,1761538813.952 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science 2025-10-27T04:20:13.952Z,1761538813.952 [OnDock:science:Science] Stopped 2025-10-27T04:20:13.953Z,1761538813.953 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science 2025-10-27T04:20:13.953Z,1761538813.953 [OnDock:science:Science:A] Stopped 2025-10-27T04:20:13.953Z,1761538813.953 [OnDock:science:Science:B] Stopped 2025-10-27T04:20:13.953Z,1761538813.953 [OnDock:science:Science:C] Stopped 2025-10-27T04:20:13.954Z,1761538813.954 [OnDock:science:Science:D] Stopped 2025-10-27T04:20:13.954Z,1761538813.954 [OnDock:science:Science:E] Stopped 2025-10-27T04:20:13.954Z,1761538813.954 [OnDock:science:Science:F] Stopped 2025-10-27T04:20:13.954Z,1761538813.954 [OnDock:science:Science:Read_Oil] Stopped 2025-10-27T04:20:13.954Z,1761538813.954 [OnDock:science:Science:OceanCurrent] Stopped 2025-10-27T04:20:13.971Z,1761538813.971 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent 2025-10-27T04:20:13.971Z,1761538813.971 [OnDock:science:Science:OceanCurrent:A.] Stopped 2025-10-27T04:20:13.971Z,1761538813.971 [OnDock:science:Science:PeakDetectChl] Stopped 2025-10-27T04:20:13.972Z,1761538813.972 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl 2025-10-27T04:20:13.972Z,1761538813.972 [OnDock:science:Science:PeakDetectChl:A] Stopped 2025-10-27T04:20:13.972Z,1761538813.972 [OnDock:science:Science:EdgeDetectChl] Stopped 2025-10-27T04:20:13.972Z,1761538813.972 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl 2025-10-27T04:20:13.972Z,1761538813.972 [OnDock:science:Science:EdgeDetectChl:A] Stopped 2025-10-27T04:20:13.972Z,1761538813.972 [OnDock:science:Science:HighestChlPeakReport] Stopped 2025-10-27T04:20:13.972Z,1761538813.972 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport 2025-10-27T04:20:13.972Z,1761538813.972 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-27T04:20:13.973Z,1761538813.973 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-27T04:20:13.973Z,1761538813.973 [OnDock:science:Science:PeakDepthAvgProfilesChl] Stopped 2025-10-27T04:20:13.973Z,1761538813.973 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesChl 2025-10-27T04:20:13.973Z,1761538813.973 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Stopped 2025-10-27T04:20:13.973Z,1761538813.973 [OnDock:science:Science:PeakDetectNO3] Stopped 2025-10-27T04:20:13.973Z,1761538813.973 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3 2025-10-27T04:20:13.973Z,1761538813.973 [OnDock:science:Science:PeakDetectNO3:A] Stopped 2025-10-27T04:20:13.974Z,1761538813.974 [OnDock:science:Science:PeakDetectOil] Stopped 2025-10-27T04:20:13.974Z,1761538813.974 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil 2025-10-27T04:20:13.974Z,1761538813.974 [OnDock:science:Science:PeakDetectOil:A] Stopped 2025-10-27T04:20:13.974Z,1761538813.974 [OnDock:science:Science:HighestOilPeakReport] Stopped 2025-10-27T04:20:13.974Z,1761538813.974 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport 2025-10-27T04:20:13.974Z,1761538813.974 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-27T04:20:13.974Z,1761538813.974 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-27T04:20:13.974Z,1761538813.974 [OnDock:science:Science:PeakDetectFDOM] Stopped 2025-10-27T04:20:13.975Z,1761538813.975 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM 2025-10-27T04:20:13.983Z,1761538813.983 [OnDock:science:Science:PeakDetectFDOM:A] Stopped 2025-10-27T04:20:13.983Z,1761538813.983 [OnDock:science:Science:PeakDetectSalinity] Stopped 2025-10-27T04:20:13.983Z,1761538813.983 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity 2025-10-27T04:20:13.983Z,1761538813.983 [OnDock:science:Science:PeakDetectSalinity:A] Stopped 2025-10-27T04:20:13.984Z,1761538813.984 [OnDock:science:Science:HighestSaltPeakReport] Stopped 2025-10-27T04:20:13.984Z,1761538813.984 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport 2025-10-27T04:20:13.984Z,1761538813.984 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-27T04:20:13.984Z,1761538813.984 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-27T04:20:13.984Z,1761538813.984 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-10-27T04:20:13.984Z,1761538813.984 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-10-27T04:20:13.984Z,1761538813.984 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-10-27T04:20:13.984Z,1761538813.984 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-10-27T04:20:13.985Z,1761538813.985 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-27T04:20:13.985Z,1761538813.985 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-10-27T04:20:13.985Z,1761538813.985 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-10-27T04:20:13.985Z,1761538813.985 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-10-27T04:20:13.985Z,1761538813.985 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-10-27T04:20:13.985Z,1761538813.985 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-10-27T04:20:13.985Z,1761538813.985 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-27T04:20:13.985Z,1761538813.985 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-10-27T04:20:13.986Z,1761538813.986 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-10-27T04:20:13.986Z,1761538813.986 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-10-27T04:20:13.986Z,1761538813.986 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-10-27T04:20:13.986Z,1761538813.986 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-10-27T04:20:13.986Z,1761538813.986 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms 2025-10-27T04:20:13.986Z,1761538813.986 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-10-27T04:20:13.986Z,1761538813.986 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-10-27T04:20:13.986Z,1761538813.986 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-27T04:20:13.987Z,1761538813.987 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-27T04:20:13.995Z,1761538813.995 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-10-27T04:20:13.995Z,1761538813.995 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-27T04:20:13.995Z,1761538813.995 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-27T04:20:13.995Z,1761538813.995 [OnDock:science:Science:ChlThreshTrigger] Stopped 2025-10-27T04:20:13.996Z,1761538813.996 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger 2025-10-27T04:20:13.996Z,1761538813.996 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-10-27T04:20:13.996Z,1761538813.996 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-10-27T04:20:13.996Z,1761538813.996 [OnDock:dataRead] Running Loop=1 2025-10-27T04:20:13.997Z,1761538813.997 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-27T04:20:13.997Z,1761538813.997 [OnDock:PowerOnly] Running Loop=1 2025-10-27T04:20:13.997Z,1761538813.997 [OnDock:PowerOnly:D] Stopped 2025-10-27T04:20:13.997Z,1761538813.997 [OnDock:PowerOnly:C] Stopped 2025-10-27T04:20:13.997Z,1761538813.997 [OnDock:PowerOnly:B] Stopped 2025-10-27T04:20:13.998Z,1761538813.998 [OnDock:PowerOnly:A] Stopped 2025-10-27T04:20:13.998Z,1761538813.998 [OnDock:BackseatDriver] Running Loop=1 2025-10-27T04:20:13.998Z,1761538813.998 [OnDock:B] Stopped 2025-10-27T04:20:13.998Z,1761538813.998 [OnDock:C] Running Loop=1 2025-10-27T04:20:13.999Z,1761538813.999 [OnDock:StandardEnvelopes] Running Loop=1 2025-10-27T04:20:13.999Z,1761538813.999 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T04:20:14.007Z,1761538814.007 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T04:20:14.008Z,1761538814.008 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T04:20:14.097Z,1761538814.097 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:14.127Z,1761538814.127 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:37 UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:2925 errors:0 dropped:0 overruns:0 frame:0 TX packets:4815 errors:0 dropped:0 overruns:0 carrier:0 collisions:9 txqueuelen:1000 RX bytes:1317418 (1.2 Mb) TX bytes:1104965 (1.0 Mb) Interrupt:29 lo Link encap:Local Loopback inet addr:127.0.0.1 Mask:255.0.0.0 UP LOOPBACK RUNNING MULTICAST MTU:16436 Metric:1 RX packets:619 errors:0 dropped:0 overruns:0 frame:0 TX packets:619 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:52864 (51.6 Kb) TX bytes:52864 (51.6 Kb) 2025-10-27T04:20:14.348Z,1761538814.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:14.600Z,1761538814.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:14.634Z,1761538814.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443213,0.896350,-0.010894],[-0.895959,0.443342,0.026535],[0.028614,-0.002000,0.999588]] 2025-10-27T04:20:14.732Z,1761538814.732 [OnDock:C] Stopped 2025-10-27T04:20:14.733Z,1761538814.733 [OnDock:D] Running Loop=1 2025-10-27T04:20:14.852Z,1761538814.852 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:15.034Z,1761538815.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455351,0.890296,-0.005253],[-0.890171,0.455376,0.015129],[0.015862,-0.002213,0.999872]] 2025-10-27T04:20:15.058Z,1761538815.058 [OnDock:D] Stopped 2025-10-27T04:20:15.058Z,1761538815.058 [OnDock:E] Running Loop=1 2025-10-27T04:20:15.104Z,1761538815.104 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:15.356Z,1761538815.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:15.441Z,1761538815.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465955,0.884804,-0.002879],[-0.884801,0.465962,0.002518],[0.003570,0.001374,0.999993]] 2025-10-27T04:20:15.499Z,1761538815.499 [OnDock:E] Stopped 2025-10-27T04:20:15.499Z,1761538815.499 [OnDock:K] Running Loop=1 2025-10-27T04:20:15.608Z,1761538815.608 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:15.842Z,1761538815.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473796,0.880634,-0.000299],[-0.880598,0.473774,-0.009267],[-0.008019,0.004654,0.999957]] 2025-10-27T04:20:15.860Z,1761538815.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:15.872Z,1761538815.872 [OnDock:K](IMPORTANT): Restarting logs 2025-10-27T04:20:15.872Z,1761538815.872 [OnDock:K] Stopped 2025-10-27T04:20:15.872Z,1761538815.872 [OnDock:L.Execute] Running Loop=1 2025-10-27T04:20:16.112Z,1761538816.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:20:16.292Z,1761538816.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477774,0.878472,0.004316],[-0.878279,0.477763,-0.019174],[-0.018906,0.005370,0.999807]] 2025-10-27T04:20:16.332Z,1761538816.332 [OnDock:L.Execute](INFO): Executing command restart logs 2025-10-27T04:20:16.333Z,1761538816.333 [OnDock:L.Execute] Stopped 2025-10-27T04:20:16.333Z,1761538816.333 [OnDock:N.Docked] Running Loop=1 2025-10-27T04:20:16.333Z,1761538816.333 [OnDock:N.Docked](DEBUG): Initialize. 2025-10-27T04:20:16.333Z,1761538816.333 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values. 2025-10-27T04:20:16.377Z,1761538816.377 [DAT](DEBUG): Acoustic response timeout